Automatic merge from submit-queue (batch tested with PRs 53592, 52562, 55175, 55213). 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>.

Check RegisterMetricAndTrackRateLimiterUsage error when starting BootstrapSigner & TokenCleaner controllers

**What this PR does / why we need it**:
Prevent `BootstrapSigner` and `TokenCleaner` controllers to start if `metrics.RegisterMetricAndTrackRateLimiterUsage` returns an error.

**Which issue this PR fixes** *(optional, in `fixes #<issue number>(, fixes #<issue_number>, ...)` format, will close that issue when PR gets merged)*: complements #53571 

**Special notes for your reviewer**:

**Release note**:

```release-note
NONE
```