feat(minReadySeconds): support minReadySeconds for PD (#5827)

[ti-chi-bot]

This is an automated cherry-pick of #5827

What problem does this PR solve?

ref pingcap/tiup#2461

closes #5764

also ref #4675

The better method is to check whether if PD is ready via an API from PD (in later versions)

What is changed and how does it work?

Code changes

• Has Go code change
• Has CI related scripts change

Tests

• Unit test
• E2E test
• Manual test
• No code

# tidb.pingcap.com/pd-min-ready-seconds: 180

basic-pd-0                         1/1     Running   1 (66m ago)   66m
basic-pd-1                         1/1     Running   1 (70m ago)   70m
basic-pd-2                         1/1     Running   1 (74m ago)   74m

Side effects

• Breaking backward compatibility
• Other side effects:

Related changes

• Need to cherry-pick to the release branch
• Need to update the documentation

Release Notes

Please refer to Release Notes Language Style Guide before writing the release note.

[ti-chi-bot]

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[csuzhangxc]

/run-pull-e2e-kind-basic

[csuzhangxc]

/run-pull-e2e-kind-basic