cluster-api: CAPI quickstart doesn't work if existing cluster has taints

What steps did you take and what happened: I tried to run through the CAPI quick start for vSphere and noticed that the CAPI components and the infrastructure-components.yaml file from all providers don’t tolerate any taints, so an existing cluster built with kubeadm doesn’t work cause it applies the master taints for control plane nodes.

Tolerating all taints is probably not ok, but I think practically we should tolerate the well-known taints at least for the quick start which probably applies for the 80% of users that try it. Or a kubeadm-based cluster at the very least.

What did you expect to happen: The quick start to work quickly.

Anything else you would like to add:

Environment:

• Cluster-api version:
• Minikube/KIND version:
• Kubernetes version: (use kubectl version):
• OS (e.g. from /etc/os-release):

/kind bug