Automatic merge from submit-queue (batch tested with PRs 51759, 53001, 52806). 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>..

oidc client auth: better error when refresh response is missing id_token

/kind cleanup
@kubernetes/sig-auth-pr-reviews 

Updates https://github.com/kubernetes/kubernetes/issues/36847

```release-notes
NONE
```