Update cert generation doc with k8s CSR instructions
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Description
Update the [Generating your own mTLS root certificates](https://linkerd.io/2/tasks/generate-certificates/) doc so that in the first step we show how to generate the intermediate certificate through k8s [CertificateSigningRequest](https://kubernetes.io/docs/tasks/tls/managing-tls-in-a-cluster/) API as an alternative to generating a CA with `step`.
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