Backport of [NET-9097, NET-8174] Upgrade controller-runtime into release/1.4.x

[hc-github-team-consul-core]

Backport

This PR is auto-generated from #3935 to be assessed for backporting due to the inclusion of the label backport/1.4.x.

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

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Changes proposed in this PR

• Upgrade controller-runtime to the version required by github.com/kubernetes-sigs/gateway-api@v1, to be consumed in a future PR. This version is v0.16.3 (code).
• Update helm/v3, both to resolve a CVE and to reach a compatible set of dependencies

How I've tested this PR

• [x] 🤖 tests pass
• [x] Ran a basic consul setup on k8s using this branch

How I expect reviewers to test this PR

• 🤖 tests pass

Checklist

• [x] Tests added
• [x] CHANGELOG entry added

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Overview of commits

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