Update cluster-api version to semantic version

[RainbowMango]

What type of PR is this?

/kind cleanup

What this PR does / why we need it:

This PR updates sigs.k8s.io/cluster-api from pseudo version v1.3.0-rc.0.0.20230127161026-14ffcb25bbf2 to the official version v1.4.0.

The pseudo version was introduced when updating Kubernetes dependencies at #3080, we have to wait for sigs.k8s.io/cluster-api@v1.4.0, see kubernetes-sigs/cluster-api#7906 (comment) for more details.

Which issue(s) this PR fixes:
Fixes #

Special notes for your reviewer:

@XiShanYongYe-Chang
The v1alpha3 and v1alpha4 were deprecated at cluster-api@v1.4.0, we might need to do some migration work. (Not urgent).

Does this PR introduce a user-facing change?:

NONE

[codecov-commenter]

Codecov Report

Merging #3502 (07f8929) into master (cda6a30) will increase coverage by 0.01%.
The diff coverage is n/a.

📣 This organization is not using Codecov’s GitHub App Integration. We recommend you install it so Codecov can continue to function properly for your repositories. Learn more

@@            Coverage Diff             @@
##           master    #3502      +/-   ##
==========================================
+ Coverage   52.65%   52.67%   +0.01%     
==========================================
  Files         213      213              
  Lines       19588    19588              
==========================================
+ Hits        10314    10317       +3     
+ Misses       8721     8719       -2     
+ Partials      553      552       -1     

Flag	Coverage Δ
unittests	52.67% <ø> (+0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

see 1 file with indirect coverage changes

[XiShanYongYe-Chang]

The v1alpha3 and v1alpha4 were deprecated at cluster-api@v1.4.0, we might need to do some migration work. (Not urgent).

ok, I have created an issue for this work. I'll do this job when I have some time.

/lgtm

[karmada-bot]

[APPROVALNOTIFIER] This PR is APPROVED

Approval requirements bypassed by manually added approval.

This pull-request has been approved by:

The full list of commands accepted by this bot can be found here.

The pull request process is described here

Needs approval from an approver in each of these files:

• OWNERS

Approvers can indicate their approval by writing /approve in a comment
Approvers can cancel approval by writing /approve cancel in a comment