[bug fix] Take into account PD peer port and PD client port when pdAddresses from TidbCluster manifest used over Discovery service in pd, tidb and tikv startup scripts (#5438)

[ti-chi-bot]

This is an automated cherry-pick of #5438

What problem does this PR solve?

Currently non default security scheme nor PD peer port nor PD client port are taken into account by startup scripts if pdAddresses from TidbCluster manifest used over Discovery service

What is changed and how does it work?

Adds support of non default scheme, PD peer port and PD client to startup scripts v2

Code changes

• Has Go code change
• Has CI related scripts change

Tests

• Unit test
• E2E test
• Manual test
• No code

Side effects

• Breaking backward compatibility
• Other side effects:

Related changes

• Need to cherry-pick to the release branch
• Need to update the documentation

Release Notes

NONE

[ti-chi-bot]

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