**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
self,
        file_path: str,
        callback_requests: List[CallbackRequest],
        pickle_dags: bool = False,
        session: Session = None,
    ) -> Tuple[int, int]:
        """
        Process a Python file containing Airflow DAGs.
        This includes:
        1. Execute the file and look for DAG objects in the namespace.
        2. Execute any Callbacks if passed to this method.
        3. Serialize the DAGs and save it to DB (or update existing record in the DB).
        4. Pickle the DAG and save it to the DB (if necessary).
        5. Record any errors importing the file into ORM
        :param file_path: the path to the Python file that should be executed
        :type file_path: str
        :param callback_requests: failure callback to execute
        :type callback_requests: List[airflow.utils.dag_processing.CallbackRequest]
        :param pickle_dags: whether serialize the DAGs found in the file and
            save them to the db
        :type pickle_dags: bool
        :param session: Sqlalchemy ORM Session
        :type session: Session
        :return: number of dags found, count of import errors