DRA: PRR and API for beta of structured parameters in 1.32

Much of the PRR text that was originally written for "classic DRA" applies also
to "structured parameters". It gets copied from #3063 to #4381, with some
adaptions.

The v1beta1 API will be almost identical to the v1alpha3 API, with just some
minor tweaks to fix oversights.

The kubelet gRPC gets bumped with no changes. Nonetheless, drivers should get
updated, which can be done by updating the Go dependencies and optionally
changing the API import.

Author: pohly

keps/prod-readiness/sig-node/4381.yaml

@@ -4,3 +4,5 @@
 kep-number: 4381
 alpha:
   approver: "@johnbelamaric"
+beta:
+  approver: "@johnbelamaric"