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Fix `kubeadm upgrade` error while CoreDNS is installed

**What this PR does / why we need it**:
In the scenario when I have CoreDNS installed via `kubeadm init` and I want to continue using CoreDNS after `kubeadm upgrade`, the upgrade is unsuccessful and it gives an error.

**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 kubernetes/kubeadm#641

**Special notes for your reviewer**:

**Release note**:

```release-note
NONE
```