chore: Update K8s compatibility #1696
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Why are these changes needed?
#1584 implements a validation webhook, and best practices require users to install cert-manager concurrently. Currently, KubeRay uses cert-manager 1.13.2 which supports Kubernetes 1.23+. KubeRay currently supports Kubernetes 1.20 and above. However, it would be acceptable to only support versions 1.23 and higher, as the Kubernetes community has not supported version 1.23 since February 2023. (https://endoflife.date/kubernetes). In addition, KubeRay is still compatible with Kubernetes 1.20.7 if users decide to not use the webhook.
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