Provided you enable the `KubeletFineGrainedAuthz` feature gate, you can access kubelet's `/healthz` endpoint by granting the caller `nodes/helathz` permission in RBAC.
  Similarly you can also access  kubelet's `/pods` endpoint to fetch a list of Pods bound to that node by granting the caller `nodes/pods` permission in RBAC.

- Exposed the kube-scheduler "/livez" and "/readz" endpoints for health checks that are in compliance with https://kubernetes.io/docs/reference/using-api/health-checks/#api-endpoints-for-health. ([#118148](https://github.com/kubernetes/kubernetes/pull/118148), [@linxiulei](https://github.com/linxiulei)) [SIG API Machinery, Scheduling and Testing]

- Kubeadm: during kubelet health checks, respect the healthz address:port configured in the KubeletConfiguration instead of hardcoding localhost:10248. ([#125286](https://github.com/kubernetes/kubernetes/pull/125286), [@neolit123](https://github.com/neolit123)) [SIG Cluster Lifecycle]

- Removed `/livez` livezchecks for KMS v1 and v2 to ensure KMS health does not cause `kube-apiserver` restart. KMS health checks are still in place as a healthz and readiness checks. ([#120583](https://github.com/kubernetes/kubernetes/pull/120583), [@ritazh](https://github.com/ritazh))

            activeConnections.decrementAndGet();
        }

        public boolean isHealthy() {
            return isHealthy;
        }

        public void setHealthy(boolean healthy) {
            this.isHealthy = healthy;
            this.lastHealthCheck = System.currentTimeMillis();
        }

        public long getLastHealthCheck() {
            return lastHealthCheck;
        }

        @Override

- Kube-proxy extends the schema of its healthz/ and livez/ endpoints to incorporate information about the corresponding IP family ([#129271](https://github.com/kubernetes/kubernetes/pull/129271), [@aroradaman](https://github.com/aroradaman)) [SIG Network and Windows]

    }

    /**
     * Set the health check interval
     * @param millis the health check interval in milliseconds
     */
    public void setHealthCheckInterval(int millis) {
        if (millis <= 0) {
            throw new IllegalArgumentException("Health check interval must be positive");
        }
        this.healthCheckInterval = millis;
        log.info("Set health check interval to {} ms", millis);
    }

  /**
   * Waits for the {@link ServiceManager} to become {@linkplain #isHealthy() healthy}. The manager
   * will become healthy after all the component services have reached the {@linkplain State#RUNNING
   * running} state.
   *
   * @throws IllegalStateException if the service manager reaches a state from which it cannot
   *     become {@linkplain #isHealthy() healthy}.
   */
  public void awaitHealthy() {
    state.awaitHealthy();
  }

  /**
   * Waits for the {@link ServiceManager} to become {@linkplain #isHealthy() healthy}. The manager
   * will become healthy after all the component services have reached the {@linkplain State#RUNNING
   * running} state.
   *
   * @throws IllegalStateException if the service manager reaches a state from which it cannot
   *     become {@linkplain #isHealthy() healthy}.
   */
  public void awaitHealthy() {
    state.awaitHealthy();
  }

     *
     * @return collection of all channels
     */
    public Collection<ChannelInfo> getChannels() {
        return channels.values();
    }

    /**
     * Get healthy channels only
     *
     * @return collection of healthy channels
     */
    public Collection<ChannelInfo> getHealthyChannels() {
        return channels.values()
                .stream()
                .filter(ChannelInfo::isHealthy)