Automatic merge from submit-queue (batch tested with PRs 58260, 58326). 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>.

Add support for submitting/receiving CRD objects as yaml

Fixes #37455

```release-note
Custom resources can now be submitted to and received from the API server in application/yaml format.
```