feat(helpers) add support for Gateway API v1beta1

[mattoddie]

What this PR does / why we need it:

Gateway API is now in beta (https://gateway-api.sigs.k8s.io/v1alpha2/references/spec/) and RBAC rules should be
created for this version.

Special notes for your reviewer:

Checklist

• PR is based off the current tip of the main branch.
• Changes are documented under the "Unreleased" header in CHANGELOG.md
• Commits follow the Kong commit message guidelines

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