Bump github.com/tektoncd/pipeline

Bumps [github.com/tektoncd/pipeline](https://github.com/tektoncd/pipeline) from 0.53.1 to 0.56.1.
- [Release notes](https://github.com/tektoncd/pipeline/releases)
- [Changelog](https://github.com/tektoncd/pipeline/blob/main/releases.md)
- [Commits](tektoncd/pipeline@v0.53.1...v0.56.1)

---
updated-dependencies:
- dependency-name: github.com/tektoncd/pipeline
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <support@github.com>

test/custom-task-ctrls/wait-task-beta/go.mod

@@ -5,10 +5,10 @@ go 1.15
 require (
  github.com/emicklei/go-restful v2.16.0+incompatible // indirect
  github.com/google/go-cmp v0.6.0
- github.com/tektoncd/pipeline v0.53.1
+ github.com/tektoncd/pipeline v0.56.1
  k8s.io/api v0.27.9
- k8s.io/apimachinery v0.27.9
+ k8s.io/apimachinery v0.29.0
  k8s.io/client-go v0.27.8
- k8s.io/utils v0.0.0-20230505201702-9f6742963106
- knative.dev/pkg v0.0.0-20231011193800-bd99f2f98be7
+ k8s.io/utils v0.0.0-20230726121419-3b25d923346b
+ knative.dev/pkg v0.0.0-20231023150739-56bfe0dd9626
 )