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[Part 1] Remove docker dep in kubelet startup

**What this PR does / why we need it**:

Remove dependency of docker during kubelet start up.

**Which issue this PR fixes** *(optional, in `fixes #<issue number>(, fixes #<issue_number>, ...)` format, will close that issue when PR gets merged)*: 

Part 1 of #54090 

**Special notes for your reviewer**:
Changes include:

1. Move docker client initialization into dockershim pkg.
2. Pass a docker `ClientConfig` from kubelet to dockershim
3. Pass parameters needed by `FakeDockerClient` thru `ClientConfig` to dockershim

(TODO, the second part) Make dockershim tolerate when dockerd is down, otherwise it will still fail kubelet

Please note after this PR, kubelet will still fail if dockerd is down, this will be fixed in the subsequent PR by making dockershim tolerate dockerd failure (initializing docker client in a separate goroutine), and refactoring cgroup and log driver detection. 

**Release note**:

```release-note
Remove docker dependency during kubelet start up 
```