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.

- kubeadm: use etcd's /health endpoint for a HTTP liveness probe on localhost instead of having a custom health check using etcdctl ([#81385](https://github.com/kubernetes/kubernetes/pull/81385), [@neolit123](https://github.com/neolit123))

- A new API server flag `--encryption-provider-config-automatic-reload` was added to control when the encryption config should be automatically reloaded without needing to restart the server.  All KMS plugins are now merged into a single healthz check at `/healthz/kms-providers` when reload is enabled, or when only KMS v2 plugins are used. ([#113529](https://github.com/kubernetes/kubernetes/pull/113529), [@enj](https://github.com/enj))

- 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

- Fixes #115825. Kube-proxy will now include the `healthz` state in its response to the LB HC as to avoid indicating to the LB that it should use the node in question when Kube-proxy is not healthy. ([#111661](https://github.com/kubernetes/kubernetes/pull/111661), [@alexanderConstantinescu](https://github.com/alexanderConstantinescu)) [SIG Network]

- 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]

* Add etcd connectivity endpoint to healthz ([#49412](https://github.com/kubernetes/kubernetes/pull/49412), [@bjhaid](https://github.com/bjhaid))
* kube-proxy will emit "FailedToStartNodeHealthcheck" event when fails to start healthz server. ([#49267](https://github.com/kubernetes/kubernetes/pull/49267), [@MrHohn](https://github.com/MrHohn))