I don't recall Kubernetes ever allowing unauthenticated access to the api. I could be wrong tho since I never considered trying to run it sans auth.
To test this, if you hit the K8s API server unauthenticated, do you get a 401 error or a 403 error? If the latter, you're at risk.
Makes it easy to find out what clusters are running what versions of k8s which is interesting, but not a major security issue.
Whilst it usually was just bound to localhost, I did encounter a distribution that, by default, bound it to the container network, meaning that anyone with access to one pod, got to be cluster admin!
Generally speaking though I don't think any distributions do that now.