[CVE-2024-51744] Bump jwt to v5.2.1 to address CVE concerns

[RainbowMango]

What type of PR is this?

/kind cleanup

What this PR does / why we need it:
This PR updates github.com/golang-jwt/jwt to v5.2.1 to address CVE concerns.

We are not affected as we do not use the ParseWithClaims function.

Unclear documentation of the error behavior in ParseWithClaims can lead to situation where users are potentially not checking errors in the way they should be. Especially, if a token is both expired and invalid, the errors returned by ParseWithClaims return both error codes. If users only check for the jwt.ErrTokenExpired using error.Is, they will ignore the embedded jwt.ErrTokenSignatureInvalid and thus potentially accept invalid tokens.

Which issue(s) this PR fixes:
Fixes #

Special notes for your reviewer:

Does this PR introduce a user-facing change?:

NONE

[RainbowMango]

/assign @warjiang
I didn't test it locally, I think the CI tests can help it.

[warjiang]

I've tested it locally, it works.
/lgtm
/approve

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