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Shared kokoro lib: address feedback (#79)
Improves the transparency into the build scripts. 1. Reduces the number of the environment variables required to be set in per-lang buildscripts 2. Deprecate `kokoro_setup_test_driver` in favor of `psm::setup::kokoro`, more consistent with the local setup 3. Instead of implicitly sourcing `psm-interop-build-${GRPC_LANGUAGE}.sh`, have the per-lang buildscripts define `psm::lang::build_docker_images`
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