[release-3.6] Set a 5-minutes ReadHeaderTimeout for client http.Server

[k8s-infra-cherrypick-robot]

This is an automated cherry-pick of #22128

/assign ahrtr

[kubernetes-prow]

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 66.06%. Comparing base (5f12ec3) to head (10530ca).
⚠️ Report is 2 commits behind head on release-3.6.

Additional details and impacted files

Files with missing lines	Coverage Δ
server/embed/serve.go	59.25% <100.00%> (+0.27%)	⬆️

... and 47 files with indirect coverage changes

@@               Coverage Diff               @@
##           release-3.6   #22144      +/-   ##
===============================================
- Coverage        68.78%   66.06%   -2.72%     
===============================================
  Files              420      420              
  Lines            35890    35892       +2     
===============================================
- Hits             24686    23713     -973     
- Misses            9752    10757    +1005     
+ Partials          1452     1422      -30     

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[ahrtr]

/retest

[kubernetes-prow]

[APPROVALNOTIFIER] This PR is APPROVED

This pull-request has been approved by: ahrtr, k8s-infra-cherrypick-robot

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