Simplify API utils for constructing URLs

[AlanGreene]

Changes

Related to https://github.com/tektoncd/dashboard/issues/2452 and https://github.com/tektoncd/dashboard/issues/3381

There's no longer a need for multiple utils to build Kube API URLs. This is an artifact of an earlier approach which is no longer used.

Combine the various URL builders into a single util and replace usage as appropriate.

getTektonAPI will be removed in a future change.

This simplification will be core to the planned updates for React Router 6, providing a single common approach to handling all Kube resources in the app.

/kind misc

Submitter Checklist

As the author of this PR, please check off the items in this checklist:

• [ ] Docs included if any changes are user facing
• [ ] Tests included if any functionality added or changed
• [ ] Follows the commit message standard
• [ ] Meets the Tekton contributor standards (including functionality, content, code)
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• [ ] Release notes block below has been updated with any user facing changes (new features, significant UI changes, API changes, bug fixes, changes requiring upgrade notices or deprecation warnings)
• [ ] Release notes contains the string "action required" if the change requires additional action from users switching to the new release

Release Notes

NONE

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