diff --git a/docs/book/src/developer/tilt.md b/docs/book/src/developer/tilt.md
index e79a5079b1b3..7fed95434d3d 100644
--- a/docs/book/src/developer/tilt.md
+++ b/docs/book/src/developer/tilt.md
@@ -13,7 +13,7 @@ workflow that offers easy deployments and rapid iterative builds.
 1. [kustomize](https://github.com/kubernetes-sigs/kustomize/blob/master/docs/INSTALL.md)
    standalone (`kubectl kustomize` does not work because it is missing
    some features of kustomize v3)
-1. [Tilt](https://docs.tilt.dev/install.html) v0.12.0 or newer
+1. [Tilt](https://docs.tilt.dev/install.html) v0.16.0 or newer
 1. [envsubst](https://github.com/drone/envsubst) or similar to handle
    clusterctl var replacement. Note: drone/envsubst releases v1.0.2 and
    earlier do not have the binary packaged under cmd/envsubst. It is
@@ -186,8 +186,23 @@ tilt up
 
 This will open the command-line HUD as well as a web browser interface. You can monitor Tilt's status in either
 location. After a brief amount of time, you should have a running development environment, and you should now be able to
-create a cluster. Please see the [Usage section in the Quick
-Start](https://cluster-api.sigs.k8s.io/user/quick-start.html#usage) for more information on creating workload clusters.
+create a cluster. There are [example worker cluster
+configs](https://github.com/kubernetes-sigs/cluster-api/tree/master/test/infrastructure/docker/examples) available.
+These can be customized for your specific needs.
+
+<aside class="note">
+
+<h1>Use of clusterctl</h1>
+
+When the worker cluster has been created using tilt, `clusterctl` should not be used for management
+operations; this is because tilt doesn't initialize providers on the management cluster like clusterctl init does, so
+some of the clusterctl commands like clusterctl config won't work.
+
+This limitation is an acceptable trade-off while executing fast dev-test iterations on controllers logic. If instead
+you are interested in testing clusterctl workflows, you should refer to the
+[clusterctl developer instructions](https://cluster-api.sigs.k8s.io/clusterctl/developers.html).
+
+</aside>
 
 ## Available providers
 
diff --git a/test/infrastructure/docker/examples/machine-pool.yaml b/test/infrastructure/docker/examples/machine-pool.yaml
index f9e118c88faa..1c091605f040 100644
--- a/test/infrastructure/docker/examples/machine-pool.yaml
+++ b/test/infrastructure/docker/examples/machine-pool.yaml
@@ -1,5 +1,5 @@
 # Creates a cluster with one control-plane node and one worker node
-apiVersion: cluster.x-k8s.io/v1alpha3
+apiVersion: cluster.x-k8s.io/v1alpha4
 kind: Cluster
 metadata:
   name: my-cluster
@@ -12,17 +12,17 @@ spec:
       cidrBlocks: ["192.168.0.0/16"]
     serviceDomain: cluster.local
   controlPlaneRef:
-    apiVersion: controlplane.cluster.x-k8s.io/v1alpha3
+    apiVersion: controlplane.cluster.x-k8s.io/v1alpha4
     kind: KubeadmControlPlane
     name: controlplane
     namespace: default
   infrastructureRef:
-    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
     kind: DockerCluster
     name: my-cluster
     namespace: default
 ---
-apiVersion: controlplane.cluster.x-k8s.io/v1alpha3
+apiVersion: controlplane.cluster.x-k8s.io/v1alpha4
 kind: KubeadmControlPlane
 metadata:
   name: controlplane
@@ -31,7 +31,7 @@ spec:
   replicas: 1
   version: v1.19.1
   infrastructureTemplate:
-    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
     kind: DockerMachineTemplate
     name: controlplane
     namespace: default
@@ -45,13 +45,13 @@ spec:
         kubeletExtraArgs:
           eviction-hard: nodefs.available<0%,nodefs.inodesFree<0%,imagefs.available<0%
 ---
-apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
 kind: DockerCluster
 metadata:
   name: my-cluster
   namespace: default
 ---
-apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
 kind: DockerMachineTemplate
 metadata:
   name: controlplane
@@ -60,7 +60,7 @@ spec:
   template:
     spec: {}
 ---
-apiVersion: exp.cluster.x-k8s.io/v1alpha3
+apiVersion: exp.cluster.x-k8s.io/v1alpha4
 kind: MachinePool
 metadata:
   name: worker-mp-0
@@ -72,25 +72,25 @@ spec:
     spec:
       bootstrap:
         configRef:
-          apiVersion: bootstrap.cluster.x-k8s.io/v1alpha3
+          apiVersion: bootstrap.cluster.x-k8s.io/v1alpha4
           kind: KubeadmConfig
           name: worker-mp-0-config
           namespace: default
       clusterName: my-cluster
       infrastructureRef:
-        apiVersion: exp.infrastructure.cluster.x-k8s.io/v1alpha3
+        apiVersion: exp.infrastructure.cluster.x-k8s.io/v1alpha4
         kind: DockerMachinePool
         name: worker-dmp-0
         namespace: default
       version: v1.19.1
 ---
-apiVersion: exp.infrastructure.cluster.x-k8s.io/v1alpha3
+apiVersion: exp.infrastructure.cluster.x-k8s.io/v1alpha4
 kind: DockerMachinePool
 metadata:
   name: worker-dmp-0
   namespace: default
 ---
-apiVersion: bootstrap.cluster.x-k8s.io/v1alpha3
+apiVersion: bootstrap.cluster.x-k8s.io/v1alpha4
 kind: KubeadmConfig
 metadata:
   name: worker-mp-0-config
diff --git a/test/infrastructure/docker/examples/simple-cluster-without-kcp.yaml b/test/infrastructure/docker/examples/simple-cluster-without-kcp.yaml
index a90a879341b0..611aa0144da4 100644
--- a/test/infrastructure/docker/examples/simple-cluster-without-kcp.yaml
+++ b/test/infrastructure/docker/examples/simple-cluster-without-kcp.yaml
@@ -1,11 +1,11 @@
 # Creates a cluster with one control-plane node and one worker node
-apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
 kind: DockerCluster
 metadata:
   name: my-cluster
   namespace: default
 ---
-apiVersion: cluster.x-k8s.io/v1alpha3
+apiVersion: cluster.x-k8s.io/v1alpha4
 kind: Cluster
 metadata:
   name: my-cluster
@@ -18,18 +18,18 @@ spec:
       cidrBlocks: ["192.168.0.0/16"]
     serviceDomain: "cluster.local"
   infrastructureRef:
-    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
     kind: DockerCluster
     name: my-cluster
     namespace: default
 ---
-apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
 kind: DockerMachine
 metadata:
   name: controlplane-0
   namespace: default
 ---
-apiVersion: cluster.x-k8s.io/v1alpha3
+apiVersion: cluster.x-k8s.io/v1alpha4
 kind: Machine
 metadata:
   labels:
@@ -42,17 +42,17 @@ spec:
   clusterName: my-cluster
   bootstrap:
     configRef:
-      apiVersion: bootstrap.cluster.x-k8s.io/v1alpha3
+      apiVersion: bootstrap.cluster.x-k8s.io/v1alpha4
       kind: KubeadmConfig
       name: controlplane-0-config
       namespace: default
   infrastructureRef:
-    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
     kind: DockerMachine
     name: controlplane-0
     namespace: default
 ---
-apiVersion: bootstrap.cluster.x-k8s.io/v1alpha3
+apiVersion: bootstrap.cluster.x-k8s.io/v1alpha4
 kind: KubeadmConfig
 metadata:
   name: controlplane-0-config
@@ -67,7 +67,7 @@ spec:
       kubeletExtraArgs:
         eviction-hard: nodefs.available<0%,nodefs.inodesFree<0%,imagefs.available<0%
 ---
-apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
 kind: DockerMachineTemplate
 metadata:
   name: worker
@@ -76,7 +76,7 @@ spec:
   template:
     spec: {}
 ---
-apiVersion: bootstrap.cluster.x-k8s.io/v1alpha3
+apiVersion: bootstrap.cluster.x-k8s.io/v1alpha4
 kind: KubeadmConfigTemplate
 metadata:
   name: worker
@@ -88,7 +88,7 @@ spec:
           kubeletExtraArgs:
             eviction-hard: nodefs.available<0%,nodefs.inodesFree<0%,imagefs.available<0%
 ---
-apiVersion: cluster.x-k8s.io/v1alpha3
+apiVersion: cluster.x-k8s.io/v1alpha4
 kind: MachineDeployment
 metadata:
   name: worker-md-0
@@ -104,10 +104,10 @@ spec:
       clusterName: my-cluster
       bootstrap:
         configRef:
-          apiVersion: bootstrap.cluster.x-k8s.io/v1alpha3
+          apiVersion: bootstrap.cluster.x-k8s.io/v1alpha4
           kind: KubeadmConfigTemplate
           name: worker
       infrastructureRef:
-        apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+        apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
         kind: DockerMachineTemplate
         name: worker
diff --git a/test/infrastructure/docker/examples/simple-cluster.yaml b/test/infrastructure/docker/examples/simple-cluster.yaml
index ae5fceb69b82..9c67dad16679 100644
--- a/test/infrastructure/docker/examples/simple-cluster.yaml
+++ b/test/infrastructure/docker/examples/simple-cluster.yaml
@@ -1,11 +1,11 @@
 # Creates a cluster with one control-plane node and one worker node
-apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
 kind: DockerCluster
 metadata:
   name: my-cluster
   namespace: default
 ---
-apiVersion: cluster.x-k8s.io/v1alpha3
+apiVersion: cluster.x-k8s.io/v1alpha4
 kind: Cluster
 metadata:
   name: my-cluster
@@ -18,17 +18,17 @@ spec:
       cidrBlocks: ["192.168.0.0/16"]
     serviceDomain: "cluster.local"
   controlPlaneRef:
-    apiVersion: controlplane.cluster.x-k8s.io/v1alpha3
+    apiVersion: controlplane.cluster.x-k8s.io/v1alpha4
     kind: KubeadmControlPlane
     name: controlplane
     namespace: default
   infrastructureRef:
-    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
     kind: DockerCluster
     name: my-cluster
     namespace: default
 ---
-apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
 kind: DockerMachineTemplate
 metadata:
   name: controlplane
@@ -37,7 +37,7 @@ spec:
   template:
     spec: {}
 ---
-apiVersion: controlplane.cluster.x-k8s.io/v1alpha3
+apiVersion: controlplane.cluster.x-k8s.io/v1alpha4
 kind: KubeadmControlPlane
 metadata:
   name: controlplane
@@ -46,7 +46,7 @@ spec:
   replicas: 1
   version: v1.19.1
   infrastructureTemplate:
-    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+    apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
     kind: DockerMachineTemplate
     name: controlplane
     namespace: default
@@ -65,7 +65,7 @@ spec:
         kubeletExtraArgs:
           eviction-hard: nodefs.available<0%,nodefs.inodesFree<0%,imagefs.available<0%
 ---
-apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
 kind: DockerMachineTemplate
 metadata:
   name: worker
@@ -74,7 +74,7 @@ spec:
   template:
     spec: {}
 ---
-apiVersion: bootstrap.cluster.x-k8s.io/v1alpha3
+apiVersion: bootstrap.cluster.x-k8s.io/v1alpha4
 kind: KubeadmConfigTemplate
 metadata:
   name: worker
@@ -86,7 +86,7 @@ spec:
           kubeletExtraArgs:
             eviction-hard: nodefs.available<0%,nodefs.inodesFree<0%,imagefs.available<0%
 ---
-apiVersion: cluster.x-k8s.io/v1alpha3
+apiVersion: cluster.x-k8s.io/v1alpha4
 kind: MachineDeployment
 metadata:
   name: worker-md-0
@@ -102,10 +102,10 @@ spec:
       clusterName: my-cluster
       bootstrap:
         configRef:
-          apiVersion: bootstrap.cluster.x-k8s.io/v1alpha3
+          apiVersion: bootstrap.cluster.x-k8s.io/v1alpha4
           kind: KubeadmConfigTemplate
           name: worker
       infrastructureRef:
-        apiVersion: infrastructure.cluster.x-k8s.io/v1alpha3
+        apiVersion: infrastructure.cluster.x-k8s.io/v1alpha4
         kind: DockerMachineTemplate
         name: worker