Update to Go 1.21

[pjonsson]

Bump the Go versions in various
files, and run go mod tidy to
clean up things.

[k8s-ci-robot]

Hi @pjonsson. Thanks for your PR.

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[pjonsson]

This passes go test ./api/... ./cmd/... ./internal/... -coverprofile cover.out in a Go 1.21 image for me locally, and the Dockerfile builds. I hijacked #374 where I already had ok-to-test and this passed the pull-hnc-test job there. Not sure how the pull-hnc-test job could pass since that uses a Go 1.20 image, but it did.

Filed kubernetes/test-infra#34440 to fix presubmit.

[rjbez17]

/ok-to-test
/lgtm
/approve

[k8s-ci-robot]

[APPROVALNOTIFIER] This PR is APPROVED

This pull-request has been approved by: pjonsson, rjbez17

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