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Pretty sure this is a long standing flake, but I'm not yet sure yet which issue to consider it a duplicate of. Some previous reports are #28713, #27460, and #25890. The timeout for the failing condition was at some point reduced from 120 to 60 seconds in 4d23506 without any explanation in the commit message.
I'm guessing @caesarxuchao has some more of the history of this one to share with us. A search of prior issues reveals multiple attempted fixes.
P.S., the title and description of this issue seem inaccurate. The failure related to TestCascadingDeletion is at
garbage_collector_test.go:366: timed out waiting for the condition
Not at customresource_discovery_controller as reported.