Remove kube-rbac-proxy

[kannon92]

What type of PR is this?

/kind cleanup

What this PR does / why we need it:

Which issue(s) this PR fixes:

Fixes #721

Special notes for your reviewer:

Does this PR introduce a user-facing change?

NONE

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[kannon92]

I was able to confirm this works via:

apiVersion: v1
kind: Pod
metadata:
  name: metrics-consumer
  namespace: jobset-system
spec:
  # Use the scaffolded service account name to allow authn/authz
  serviceAccountName: jobset-controller-manager
  containers:
  - name: metrics-consumer
    image: curlimages/curl:7.78.0
    command: ["/bin/sh"]
    args:
      - "-c"
      - >
        while true;
        do
          # Note here that we are passing the token obtained from the ServiceAccount to curl the metrics endpoint
          curl -s -k -H "Authorization: Bearer $(cat /var/run/secrets/kubernetes.io/serviceaccount/token)" https://jobset-controller-manager-metrics-service.jobset-system.svc.cluster.local:8443/metrics;
          sleep 60;
        done

When I run this pod, I am able to see that the metrics server is correctly secured.

[ahg-g]

/lgtm
/approve

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[APPROVALNOTIFIER] This PR is APPROVED

This pull-request has been approved by: ahg-g, kannon92

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[ahg-g]

@camilamacedo86 thanks a lot for reviewing kubernetes-sigs/lws#284; do you mind taking a look at this PR? It is already merged, but we can open a followup if there is something here that needs tweaking.