feat: intercp communication with catalog

[jakubdyszkiewicz]

This PR implements this MADR https://github.com/kumahq/kuma/blob/master/docs/madr/decisions/013-multizone-envoy-admin.md

It introduces a new channel for CP to communicate with each other called intercp server.
For CP to discover other CP we now have a catalog which is a list of CP instances stored in the config map.
Right now, this is not exposed in the API (but probably will be) nor synced from Zone to Global CP (but probably will be for visibility).

For the E2E tests, we need to scale up and down and inspect the cp-catalog config.
I did not want to do this using shared e2e_env because it can potentially disrupt other tests. Therefore I used the existing HELM multizone test to check it. I will later use it to also check the actual issue (config dump with multiple instances of Global CP).

Checklist prior to review

• Link to docs PR or issue -- In progress
• Link to UI issue or PR --
• Is the issue worked on linked? -- xref Envoy Admin operations with multizone and HA Global CP can fail #5080 but it does not solve the problem
• The PR does not hardcode values that might break projects that depend on kuma (e.g. "kumahq" as a image registry) --
• The PR will work for both Linux and Windows, system specific functions like syscall.Mkfifo have equivalent implementation on the other OS --
• Unit Tests --
• E2E Tests --
• Manual Universal Tests --
• Manual Kubernetes Tests --
• Do you need to update UPGRADE.md? --
• Does it need to be backported according to the backporting policy? --
• Do you need to explicitly set a > Changelog: entry here or add a ci/ label to run fewer/more tests?

Changelog: feat(kuma-cp): intercp communication protocol

[bartsmykla]

Few questions and suggestions but lgtm overall.