Automatic merge from submit-queue. If you want to cherry-pick this change to another branch, please follow the instructions <a href="https://github.com/kubernetes/community/blob/master/contributors/devel/cherry-picks.md">here</a>.

audit policy: reject audit policy files without apiVersion and kind

Closes https://github.com/kubernetes/kubernetes/issues/54254

/cc @sttts @CaoShuFeng @crassirostris @tallclair

/sig auth
/kind cleanup

```release-note
Audit policy files without apiVersion and kind are treated as invalid.
```