A simple KIND based test environment can be created with locally built images.
Run make start-dev ADMIN_ARN=arn:aws:iam::... AUTHENTICATOR_IMAGE=aws-iam-authenticator:v0.5.3_02a8... to create a kind cluster, and run an aws-iam-authenticator server container to test.
Client side changes can be tested too, the binary in _output/bin is used by the generated kubeconfig.
Run make kill-dev to tear down the environment complete and remove the generated config.