I’m trying to enable the experimental tracing feature. However, I’m getting following error when trying to create the confs:

resource mapping not found for name: "" namespace: "" from "kube-tracing.yaml": no matches for kind "TracingConfiguration" in version "<http://apiserver.config.k8s.io/v1alpha1|apiserver.config.k8s.io/v1alpha1>"
ensure CRDs are installed first
resource mapping not found for name: "" namespace: "" from "kube-tracing.yaml": no matches for kind "KubeletConfiguration" in version "<http://kubelet.config.k8s.io/v1beta1|kubelet.config.k8s.io/v1beta1>"
ensure CRDs are installed first

kube-tracing.yaml:

apiVersion: <http://apiserver.config.k8s.io/v1alpha1|apiserver.config.k8s.io/v1alpha1>
kind: TracingConfiguration
endpoint: <...>:4317
---
apiVersion: <http://kubelet.config.k8s.io/v1beta1|kubelet.config.k8s.io/v1beta1>
kind: KubeletConfiguration
featureGates:
  KubeletTracing: true
tracing:
  endpoint: <...>:4317

I enabled the feature gates (

feature-gates=APIServerTracing=true,KubeletTracing=true

), but it seems the CRDs are missing. How do I get the CRDs..?

You don't apply the config to the cluster. You save it to a file and point the apiserver at that file with a cli flag. Where did you see that you apply it?