Support graceful upgrade TiCDC (>=6.3.0) pods

[overvenus]

What problem does this PR solve?

What is changed and how does it work?

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

Support graceful upgrade TiCDC (>=6.3.0) pods

[ti-chi-bot]

[REVIEW NOTIFICATION]

This pull request has been approved by:

• KanShiori

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[codecov-commenter]

Codecov Report

Merging #4697 (177a161) into release-1.3 (da0f4ae) will increase coverage by 10.06%.
The diff coverage is 69.03%.

Additional details and impacted files

@@               Coverage Diff                @@
##           release-1.3    #4697       +/-   ##
================================================
+ Coverage        62.25%   72.32%   +10.06%     
================================================
  Files              186      190        +4     
  Lines            20584    23338     +2754     
================================================
+ Hits             12815    16879     +4064     
+ Misses            6590     5268     -1322     
- Partials          1179     1191       +12     

Flag	Coverage Δ
e2e	59.60% <43.87%> (?)
unittest	62.36% <66.55%> (+0.10%)	⬆️

[KanShiori]

/test pull-e2e-kind-basic