Backport of [docs] use values.yaml instead of config.yaml everywhere for helm configurations into release/1.13.x

[hc-github-team-consul-core]

Backport

This PR is auto-generated from #14554 to be assessed for backporting due to the inclusion of the label type/docs-cherrypick.

WARNING automatic cherry-pick of commits failed. Commits will require human attention.

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The below text is copied from the body of the original PR.

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Description

We have been using values.yaml and config.yaml interchangeably in our docs to describe the custom helm configurations. This PR proposes that we use values.yaml to describe the helm chart configurations and use config.yaml in existing places where it is meant to describe other objects (like CRDs, etc).

This aligns our docs with whats in the consul-k8s repo and also what is described here: https://helm.sh/docs/chart_template_guide/values_files/

PR Checklist

• [ ] updated test coverage
• [x] external facing docs updated
• [x] not a security concern

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Overview of commits

• b65a3971a98d134c03989ab9be9b0750ab4ab4c7 - 581190aa2ef19b95598e6d88e62a8113fed55557

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