Cherry-pick #1209 [Expose custom health check ports in the firewall] into release-1-10

[spencerhance]

#1209

/assign @freehan

[k8s-ci-robot]

Hi @spencerhance. Thanks for your PR.

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[freehan]

/ok-to-test

[freehan]

/lgtm
/approve

is this feature tested?

[k8s-ci-robot]

[APPROVALNOTIFIER] This PR is APPROVED

This pull-request has been approved by: freehan, spencerhance

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[spencerhance]

@freehan thanks!

Yes, cmd/e2e-test/healthcheck_test.go