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Automatic merge from submit-queue (batch tested with PRs 41234, 42186, 41615, 42028, 41788)
Restore wait for etcd in rbac initialization
Wait for etcd was accidentally removed in 26b42d350d (diff-efb2aa0040291a41fcf922efc886ea13L136)
Related to https://github.com/kubernetes/kubernetes/issues/37704 and https://github.com/kubernetes/kubernetes/pull/39821