**Apache Airflow version**: 2.0.1
**Kubernetes version**: v1.19.7
**Executor**: KubernetesExecutor

**What happened**:

If you have a worker that gets stuck in pending forever, say with a missing volume mount, the task will stay in the queued state forever. Nothing is applying a timeout on it actually being able to start.

**What you expected to happen**:

Eventually the scheduler will notice that the worker hasn't progressed past pending after a given amount of time and will mark it as a failure.

**How to reproduce it**:
```python
from airflow import DAG
from airflow.operators.bash import BashOperator
from airflow.utils.dates import days_ago
from kubernetes.client import models as k8s


default_args = {
    "owner": "airflow",
}

with DAG(
    dag_id="pending",
    default_args=default_args,
    schedule_interval=None,
    start_date=days_ago(2),
) as dag:
    BashOperator(
        task_id="forever_pending",
        bash_command="date; sleep 30; date",
        executor_config={
            "pod_override": k8s.V1Pod(
                spec=k8s.V1PodSpec(
                    containers=[
                        k8s.V1Container(
                            name="base",
                            volume_mounts=[
                                k8s.V1VolumeMount(mount_path="/foo/", name="vol")
                            ],
                        )
                    ],
                    volumes=[
                        k8s.V1Volume(
                            name="vol",
                            persistent_volume_claim=k8s.V1PersistentVolumeClaimVolumeSource(
                                claim_name="missing"
                            ),
                        )
                    ],
                )
            ),
        },
    )
```


**Anything else we need to know**:
Related to:

* #15149 (This is reporting that these pending pods don't get deleted via "Mark Failed")
* #14556 (This handles when these pending pods get deleted and is already fixed)

airflow/jobs/scheduler_job.py
return executable_tis
        
        task_instance_str = "\n\t".join([repr(x) for x in task_instances_to_examine])
        self.log.info("%s tasks up for execution:\n\t%s", len(task_instances_to_examine), task_instance_str)
        pool_to_task_instances: DefaultDict[str, List[models.Pool]] = defaultdict(list)
        for task_instance in task_instances_to_examine:
            pool_to_task_instances[task_instance.pool].append(task_instance)
        
        dag_concurrency_map: DefaultDict[str, int]
        task_concurrency_map: DefaultDict[Tuple[str, str], int]
        dag_concurrency_map, task_concurrency_map = self.__get_concurrency_maps(
            states=list(EXECUTION_STATES), session=session
        )
        num_tasks_in_executor = 0
        
        num_starving_tasks_total = 0
        
        
        
        for pool, task_instances in pool_to_task_instances.items():
            pool_name = pool
            if pool not in pools:
                self.log.warning("Tasks using non-existent pool '%s' will not be scheduled", pool)
                continue
            open_slots = pools[pool]["open"]
            num_ready = len(task_instances)
            self.log.info(
                "Figuring out tasks to run in Pool(name=%s) with %s open slots "
                "and %s task instances ready to be queued",
                pool,