The reason why you deploy multiple instances of each of these components is to increase your availability and tolerance to handle fault.
What you want to achieve is to spread those 8 servers across as many physical machines as you can. Ideally each of these components that you run multiples of (e.g. the config servers) should not run on the same physical machine.
If you run the 8 VMs on a single physical machine or deploying 8 Kubernetes pods on a k8s cluster of one physical machine, you are not gaining anything in terms of fault tolerance or increased availability of your cluster.
In that case you would only gain the benefits of using an elaborate orchestrator like kubernetes to manage your containers.