Bumps k8s deps to v1.31

[nrb]

This is a more complete version bump than what dependabot is doing (see #767).

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This pull-request has been approved by: nrb
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[elmiko]

/lgtm

cc @cheftako for approval

[aojea]

/assign @bowei

[k8s-ci-robot]

PR needs rebase.

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