The required permissions for the various kubelet endpoints are referenced here: 
https://kubernetes.io/docs/admin/kubelet-authentication-authorization/#kubelet-authorization

https://github.com/kubernetes/kubernetes/blob/master/plugin/pkg/auth/authorizer/rbac/bootstrappolicy/testdata/cluster-roles.yaml#L883-L916
 is an example clusterrole that grants those permissions you can bind to your 
apiserver user with a clusterrolebinding

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