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What this PR does / why we need it:
Update the go.mod go directive to match that in istio/istio.
Note that there really isn't a need to update this directive. We haven't added anything the needs Go 1.16+ functionality (and not even sure if we need 1.15).
We do pick up lint errors when specifying a later Go version as there are library deprecations. Note that the changes to fix this lint would require a go 1.16 as the library functions were added in 1.16 (I suspect that leaving the go directive as 1.15 will cause compilation errors trying to access the 1.16 functions).