title: no kind "APIService" is registered error when running `linkerd upgrade --from-manifests`
body: <p>When running <code>linkerd upgrade --from-manifests</code> the following error occurs:</p>
  
  <pre><code>linkerd upgrade --from-manifests install.yaml &gt; install-new.yaml
  × Failed to parse Kubernetes objects from manifest install.yaml: no kind "APIService" is registered for version "apiregistration.k8s.io/v1" in scheme "pkg/runtime/scheme.go:101"
  </code></pre>