fix: Enable docker build without cli

[ericzzzzzzz]

Fixes: #9103

Description:

• when running dev, run, debug command, skaffold always uses cli to build for docker builder in build phase
• This pr changes the part of a if condition that enable docker-cli by changing || matcher.isEmpty to || matcher.isCrossPlatform, So when user does not need to build cross-platform image, they don't have to have docker-cli installed, I think that what the comment was meant to as well.
• I was trying to enable docker build without cli for cross-platfom builds as well, but tests are failing on kokoro, that will need some time to test and verify, I'll do it in a separate pr.
• Also, remove the duplicate skaffold install, as we already built it when building skaffold-builder image

  skaffold/deploy/skaffold/Dockerfile

  Line 22 in 2fc43f6

  RUN make clean out/skaffold VERSION=$VERSION && mv out/skaffold /usr/bin/skaffold && rm -rf secrets $SECRET

[codecov]

Codecov Report

Attention: 295 lines in your changes are missing coverage. Please review.

Comparison is base (290280e) 70.48% compared to head (151dd9b) 63.73%.
Report is 1067 commits behind head on main.

Files	Patch %	Lines
cmd/skaffold/app/cmd/exec.go	16.32%	40 Missing and 1 partial ⚠️
cmd/skaffold/app/cmd/filter.go	47.27%	22 Missing and 7 partials ⚠️
cmd/skaffold/app/cmd/lsp.go	28.12%	23 Missing ⚠️
cmd/skaffold/app/cmd/verify.go	23.33%	23 Missing ⚠️
cmd/skaffold/app/cmd/fix.go	51.16%	17 Missing and 4 partials ⚠️
cmd/skaffold/app/cmd/inspect_job_manifest_paths.go	60.00%	15 Missing and 1 partial ⚠️
cmd/skaffold/app/cmd/inspect_namespaces.go	50.00%	13 Missing and 1 partial ⚠️
...md/skaffold/app/cmd/inspect_config_dependencies.go	45.83%	12 Missing and 1 partial ⚠️
cmd/skaffold/app/cmd/lint.go	42.85%	12 Missing ⚠️
cmd/skaffold/app/cmd/inspect_build_env.go	60.71%	11 Missing ⚠️
... and 21 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9178      +/-   ##
==========================================
- Coverage   70.48%   63.73%   -6.75%     
==========================================
  Files         515      630     +115     
  Lines       23150    32447    +9297     
==========================================
+ Hits        16317    20680    +4363     
- Misses       5776    10178    +4402     
- Partials     1057     1589     +532     

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