✨manager: add liveness/readiness probes

[cpanato]

What this PR does / why we need it:
Add liveness / readiness probes
similar did here: kubernetes-sigs/cluster-api#2156

Which issue(s) this PR fixes (optional, in fixes #<issue number>(, fixes #<issue_number>, ...) format, will close the issue(s) when PR gets merged):
Fixes #

Special notes for your reviewer:

Please confirm that if this PR changes any image versions, then that's the sole change this PR makes.

Release note:

manager: Add liveness/readiness probes

/cc @vincepri

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[randomvariable]

/ok-to-test

[cpanato]

/test pull-cluster-api-provider-vsphere-e2e

[randomvariable]

doesn't look like a flake. did fail on waiting on pod ready conditions

[randomvariable]

/lgtm

on account of wiring up the health-addr flag in #764

[yastij]

/approve
/lgtm

[k8s-ci-robot]

[APPROVALNOTIFIER] This PR is APPROVED

This pull-request has been approved by: cpanato, yastij

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