fix: only run h2c & http servers when needed

[EyalPazz]

What type of PR is this?

/kind bug
/area conformance

Which issue(s) this PR fixes:
Fixes #3594

Does this PR introduce a user-facing change?:

NONE

[k8s-ci-robot]

[APPROVALNOTIFIER] This PR is NOT APPROVED

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[k8s-ci-robot]

Hi @EyalPazz. Thanks for your PR.

I'm waiting for a kubernetes-sigs member to verify that this patch is reasonable to test. If it is, they should reply with /ok-to-test on its own line. Until that is done, I will not automatically test new commits in this PR, but the usual testing commands by org members will still work. Regular contributors should join the org to skip this step.

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[dprotaso]

I don't see the concern with having a second server running - asked the question here #3594 (comment)

/hold

[mikemorris]

Same question as @dprotaso but in the meantime

/ok-to-test