Remove dependency on k8s.io/kubernetes

**Describe the problem/challenge you have**
k8s.io/kubernetes is [not](https://github.com/kubernetes/kubernetes/issues/79384#issuecomment-505627280) suppose to be used as library.

Because of this, `go list` command fails unless some packages are added in the replace section. If we add the packages in replace section, we have to take care of upgrading them as k8s.io/apiserver upgrades. This makes the maintainance hard.

**Describe the solution you'd like**
Ideal solution would be to remove the dependency on k8s.io/kubernetes and have some alternative to the functionality it provides.

**Anything else you would like to add:**
This library is being used [here](https://github.com/carvel-dev/kapp/blob/develop/pkg/kapp/permissions/validator.go#L146)

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