Merge pull request #59940 from mikedanese/id-authenticator
Automatic merge from submit-queue (batch tested with PRs 59333, 59940). 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>.
implement token authenticator for new id tokens
part of https://github.com/kubernetes/kubernetes/issues/58790
```release-note
NONE
```
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