Replace grpc_health_probe with the built-in gRPC container probe feature

[tenzen-y]

What this PR does / why we need it:
The built-in gRPC container probe has been enabled as a default since K8s v1.24.

https://kubernetes.io/docs/tasks/configure-pod-container/configure-liveness-readiness-startup-probes/#define-a-grpc-liveness-probe

So we should replace grpc_health_probe with a built-in one.

Which issue(s) this PR fixes (optional, in fixes #<issue number>(, fixes #<issue_number>, ...) format, will close the issue(s) when PR gets merged):
Fixes #

Checklist:

• Docs included if any changes are user facing

[google-oss-prow]

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[andreyvelich]

Thank you for updating this @tenzen-y!
/assign @gaocegege @johnugeorge

[andreyvelich]

/lgtm
/assign @johnugeorge @gaocegege
/hold for review

[gaocegege]

Then we could only support clusters above 1.24, if I understand it correctly.

But LGTM.

[tenzen-y]

Then we could only support clusters above 1.24, if I understand it correctly.

@gaocegege Thanks for the review. Yes, that's right. We're ok with supporting only clusters above v1.24 since the K8s v1.25 is required for the next katib version as a minimum required version: #2155

[gaocegege]

SGTM

[andreyvelich]

/hold cancel