Kubernetes quickstart guide incompatible with recent versions of Kubernetes

[rturner3]

The most recent version of K8s that the K8s quickstart guide is reported to have been tested with is 1.13.1, which is almost four years old at this point. One issue I've observed is that this argument passed to minikube start is removed from recent versions of kube-apiserver:

--extra-config=apiserver.service-account-api-audiences=api,spire-server

The new config field appears to be called api-audiences instead of service-account-api-audiences: kubernetes/kubernetes#108624

This is just one issue I observed, but it would be great if the sample could be brought up-to-date with all the recommended configuration and deployment patterns that are suggested for newer versions of Kubernetes (e.g. 1.23+) and SPIRE (e.g. 1.4+).