Replace fmt.Print with printer in upgrade plan code and fix configVersions are not printed when output is json or yaml

[carlory]

What type of PR is this?

/kind bug

What this PR does / why we need it:

root@kind-control-plane:/# kubeadm upgrade plan -ojson
[upgrade] Running cluster health checks
I0223 06:41:31.158831    1526 version.go:256] remote version is much newer: v1.29.2; falling back to: stable-1.28
{
    "kind": "UpgradePlan",
    "apiVersion": "output.kubeadm.k8s.io/v1alpha2",
    "components": [
        {
            "name": "kubelet",
            "currentVersion": "1 x v1.28.0",
            "newVersion": "v1.28.7"
        },
        {
            "name": "kube-apiserver",
            "currentVersion": "v1.28.0",
            "newVersion": "v1.28.7"
        },
        {
            "name": "kube-controller-manager",
            "currentVersion": "v1.28.0",
            "newVersion": "v1.28.7"
        },
        {
            "name": "kube-scheduler",
            "currentVersion": "v1.28.0",
            "newVersion": "v1.28.7"
        },
        {
            "name": "kube-proxy",
            "currentVersion": "v1.28.0",
            "newVersion": "v1.28.7"
        },
        {
            "name": "CoreDNS",
            "currentVersion": "v1.10.1",
            "newVersion": "v1.10.1"
        },
        {
            "name": "etcd",
            "currentVersion": "3.5.9-0",
            "newVersion": "3.5.9-0"
        }
    ],
    "configVersions": null
}
root@kind-control-plane:/# kubeadm upgrade plan -ojson | jq .
parse error: Invalid numeric literal at line 1, column 9
^C

Which issue(s) this PR fixes:

Ref kubernetes/kubeadm#494

Special notes for your reviewer:

Does this PR introduce a user-facing change?

kubeadm: fix a bug where "kubeadm upgrade plan -o yaml|json" includes unneeded output and was missing component config information.

Additional documentation e.g., KEPs (Kubernetes Enhancement Proposals), usage docs, etc.:

[neolit123]

CI errors need to be fixed, but LGTM
works locally too.

/triage accepted
/priority backlog
/approve

[k8s-ci-robot]

[APPROVALNOTIFIER] This PR is APPROVED

This pull-request has been approved by: carlory, neolit123

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• cmd/kubeadm/OWNERS [neolit123]

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[neolit123]

/release-note-edit

kubeadm: fix a bug where "kubeadm upgrade plan -o yaml|json" includes unneeded output and was missing component config information.

[neolit123]

Additional documentation e.g., KEPs (Kubernetes Enhancement Proposals), usage docs, etc.:

you can remove the text in the box under, it's not needed for this PR.

[carlory]

/cc @pacoxu

[neolit123]

/lgtm
to unblock #123461

[k8s-ci-robot]

LGTM label has been added.

Git tree hash: df44b4e56f0b210b670773e9556ffdb677dbd5fd

[sftim]

Changelog suggestion

-kubeadm: fix a bug where "kubeadm upgrade plan -o yaml|json" includes unneeded output and was missing component config information.
+kubeadm: fixed a bug where `kubeadm upgrade plan -o yaml|json` included unneeded output,
+and was missing component config information.