Automatic merge from submit-queue (batch tested with PRs 40297, 41285, 41211, 41243, 39735)

Secure kube-scheduler

This PR:
* Adds a bootstrap `system:kube-scheduler` clusterrole
* Adds a bootstrap clusterrolebinding to the `system:kube-scheduler` user
* Sets up a kubeconfig for kube-scheduler on GCE (following the controller-manager pattern)
* Switches kube-scheduler to running with kubeconfig against secured port (salt changes, beware)
* Removes superuser permissions from kube-scheduler in local-up-cluster.sh
* Adds detailed RBAC deny logging

```release-note
On kube-up.sh clusters on GCE, kube-scheduler now contacts the API on the secured port.
```