Earlier quoted context omitted.
From experience, anything with 2GB or more RAM can be a master node. Workers can even have 1GB and work just fine. Be warned, though, in my experience etcd requires a somewhat decent read/write latency, or else it's going to fail, and when etcd fails everything fails. Your changes don't apply, etc.
_Technically_ 1GB is the limit, but yeah, at 1GB I was hitting OOM errors every day or so (this was on the Pi 3 B+). I was very happy when I found out the Pi 4 had 2 or 4GB models! No matter what, you should also make sure to not schedule Pods on the master node(s) when you have limited memory (or in most cases, really...).
Setting resource requests also enables the use of HorizontalPodAutoscalers.