Support use docker for version >= v1.24.0

[chilianyi]

What type of PR is this?

/kind feature

What this PR does / why we need it:

Which issue(s) this PR fixes:

Fixes # Support use docker for version >= v1.24.0

Special notes for reviewers:

when create cluster with k8s version >=v1.24.0 and container runtime docker
./kk create cluster --with-kubernetes v1.28.6 --container-manager docker

[Notice]
Incorrect runtime. Please specify a container runtime other than Docker to install Kubernetes v1.24 or later.
You can set "spec.kubernetes.containerManager" in the configuration file to "containerd" or add "--container-manager containerd" to the "./kk create cluster" command.

K8s version >=v1.24 is able to use docker
https://github.com/kubesphere/kubekey/wiki/Upgrade-Kubernetes-cluster-from-v1.23-to-v1.24-or-later

1. change pre-check, allowed to create k8s cluster and use docker
2. install cri-docker , add cri-docker service, enable cri-docker
3. change spec.kubernetes.containerRuntimeEndpoint

after change, the result is :

./kk create cluster --with-kubernetes v1.28.6 --container-manager docker

# kubectl get node -o wide
NAME     STATUS     ROLES                  AGE     VERSION   INTERNAL-IP     EXTERNAL-IP   OS-IMAGE             KERNEL-VERSION      CONTAINER-RUNTIME
test-2   NotReady   control-plane,worker   7m21s   v1.28.6   172.31.53.116   <none>        Ubuntu 22.04.1 LTS   5.15.0-87-generic   docker://24.0.6

Does this PR introduced a user-facing change?

Support use docker for version >= v1.24.0

Additional documentation, usage docs, etc.:

[pixiake]

@chilianyi Thnaks for this contributions !
/lgtm
/approve

[ks-ci-bot]

LGTM label has been added.

Git tree hash: 10ef5bd003edf46bfbc54ed2343919aec6d3eba7

[ks-ci-bot]

[APPROVALNOTIFIER] This PR is APPROVED

This pull-request has been approved by: chilianyi, pixiake

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[pixiake]

@all-contributors please add @chilianyi for code

[allcontributors]

@pixiake

I've put up a pull request to add @chilianyi! 🎉