Automatic merge from submit-queue (batch tested with PRs 56206, 58525). 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>.

kubectl: Use metrics-server for kubectl top commands

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

This PR implements support for the kubectl top commands to use the metrics-server as an aggregated API, instead of requesting the metrics from heapster directly. If the `metrics.k8s.io` API is not served by the apiserver, then this still falls back to the previous behavior.

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

Fixes #55489

**Special notes for your reviewer**:

As utilizing heapster as well as the v1alpha1 version of the metrics API is discouraged, I intentionally implemented the support very separated, so that once it is decided, that support is entirely removed, this will make it easy.

**Release note**:

```release-note
Support metrics API in `kubectl top` commands.
```

/cc @kubernetes/sig-instrumentation-pr-reviews @DirectXMan12 @fgrzadkowski @piosz