Update `endpointsFromCluster` to reuse `clientConfigFromCmd` #12720

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Run time

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Job	Run time
main	5m 17s
trivy-scan (amd64)	41s
trivy-scan (arm64)	29s
trivy-scan (ppc64le)	43s
trivy-scan (s390x)	29s
	7m 39s