✨ Implement core logic for chained upgrades

[fabriziopandini]

What this PR does / why we need it:
This PR implements the core upgrade logic for chained upgrades.
It include also the KubernetesVersions field in CC and refactoring the E2E tests for runtime SDK to test chained upgrades

Which issue(s) this PR fixes:
Part of #12720

/area clusterclass

[k8s-ci-robot]

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[k8s-ci-robot]

@fabriziopandini: The following tests failed, say /retest to rerun all failed tests or /retest-required to rerun all mandatory failed tests:

Test name	Commit	Details	Required	Rerun command
pull-cluster-api-apidiff-main	27d087f	link	false	/test pull-cluster-api-apidiff-main
pull-cluster-api-verify-main	27d087f	link	true	/test pull-cluster-api-verify-main

Full PR test history. Your PR dashboard. Please help us cut down on flakes by linking to an open issue when you hit one in your PR.

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[k8s-ci-robot]

PR needs rebase.

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