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Ensure kind cluster has RFC1123 compliant name (#20627)
When creating a kind cluster, we must use a cluster name that is a valid Kubernetes resource name, and by extension, a valid DNS name. If not, kind cluster provisioning can fail when kind tries to create resources with invalid names. For example, if trying to create a cluster called "a_b" (underscores are not permitted), control-plane provisioning will fail with: host 'a_b-control-plane' must be [...] a valid RFC-1123 DNS subdomain
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