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Backport following commits to 1.16:
748b2ab (mac ci: try ignoring update failure (#13658), 2020-10-20)
f95f539 (ci: various improvements (#13660), 2020-10-20)
6481a27 (ci: stop building alpine-debug images in favor of ubuntu-based debug image (#13598), 2020-10-15)
73d78f8 (ci: use multiple stage (#13557), 2020-10-15)
b7a4756 (ci: use azp for api and go-control-plane sync (#13550), 2020-10-14)
876a6bb (ci use azp to sync filter example (#13501), 2020-10-12)
a0f31ee (ci: use azp to generate docs (#13481), 2020-10-12)
7e5d854 (ci: bring BAZEL_BUILD_OPTIONS back for format and docs (#13480), 2020-10-11)
7af2b2b (ci: use same flaky test process script on macOS (#13485), 2020-10-10)