Escape parentheses in shJoin

[briandealwis]

Fixes: #6100

Description
In skaffold debug, we rewrite container command-lines to run under the applicable language runtime debugger. We support "sh -c"-style command-lines that result from Dockerfile RUN command args by splitting and then re-joining the command-lines. Our re-joining helper tries to do minimal escaping, escaping only whitespace and a double-quote. But command-lines such as [Bank of Anthos's contacts] container then fail as they include parentheses, which are interpreted by the shell:

gunicorn -b :$PORT --threads 4 --log-config /logging.conf --log-level=$LOG_LEVEL "contacts:create_app()"

This PR causes our re-join to quote parentheses, brackets, and braces, and single-quotes too.

This quoting is imperfect as we don't track information such as the contacts:create_app() being quoted.

[MarlonGamez]

lgtm

[codecov]

Codecov Report

Merging #6101 (2669b16) into master (044c65f) will decrease coverage by 0.01%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master    #6101      +/-   ##
==========================================
- Coverage   70.19%   70.18%   -0.02%     
==========================================
  Files         475      475              
  Lines       18156    18156              
==========================================
- Hits        12745    12743       -2     
- Misses       4475     4476       +1     
- Partials      936      937       +1     

Impacted Files	Coverage Δ
pkg/skaffold/debug/transform.go	90.17% <100.00%> (ø)
pkg/skaffold/util/tar.go	50.66% <0.00%> (-5.34%)	⬇️
pkg/skaffold/docker/parse.go	87.14% <0.00%> (+0.95%)	⬆️

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