去代码如何在没有InsecureSkipVerify的情况下连接自签名证书SSL站点？

in a project I need to program in Go code to connect a https site which is deployed with a self-signed TLS certs; I am provided the server certs files: (the ca.cert ca.key, client.cert client.key client.csr and server configured with server.cert server.key server.csr);

I have figured out the following code indeed works

cert, err := tls.LoadX509KeyPair("./client.crt", "./client.key")
// if err != nil { ... }

rootCAs := x509.NewCertPool()
certs, err := ioutil.ReadFile("./ca.crt")
// if err != nil { ... }
// Append our cert to the system pool
if ok := rootCAs.AppendCertsFromPEM(certs); !ok { ... }
config := tls.Config{
    Certificates: []tls.Certificate{cert},
    InsecureSkipVerify: true,
    ServerName: "ingress.local",
    RootCAs:    rootCAs,
}
conn, err := tls.Dial("tcp", "some-site.xyz:443", &config)
if err != nil {
    if x509err, ok := err.(x509.UnknownAuthorityError); ok {
        fmt.Printf("unknown rootCert: %#v
", x509err.Cert)
    }
    log.Fatalf("client: dial: %#v
\t%+v", err, err)
}

tr := &http.Transport{TLSClientConfig: &config}
client := &http.Client{Transport: tr}

// Uses local self-signed cert
req, err := http.NewRequest(http.MethodGet, "https://some-site.xyz", nil)
if err != nil {
    log.Fatalf("client: http new request: %#v", err, err)
}

now the question is: if I don't set the InsecureSkipVerify: true in tls.Config, the code failed with errors: 1. if not set ServerName correctly, it's x509.HostnameError this service is running with a k8s ingress, and I figured out the correct hostname is ingress.local 2. even if I set ServerName correctly, it now failed with x509.UnknownAuthorityError

The other way I've tried is to not loading ca.cert at all, only 1 line of InsecureSkipVerify: true can make all of this working, and only required files are the client.cert client.key

if I set only the InsecureSkipVerify: true without loading the client certs, that results an 400 Bad Request No required SSL certificate was sent proved that server side is configured with requiring the client certs;

cert, err := tls.LoadX509KeyPair("./client.crt", "./client.key")
config := tls.Config{
    Certificates: []tls.Certificate{cert},
    InsecureSkipVerify: true,
}
// same tls.Dial or http.NewRequest works well ...

I want to try the best effort to avoid setting InsecureSkipVerify: true wonder is there any way possible to make it working without InsecureSkipVerify: true? Is the way above of loading ca.cert into a CertPool has anything wrong? the provided files include ca.key and *.csr files as well, but from all online existing TLS connection go code samples I don't see where can they be useful ?

If there's no way to make it working without InsecureSkipVerify: true, then is it still meaningful to load the ca.cert ?

Update one more thing: I've tried with curl --cacert ./ca.crt --cert ./client.crt --key client.key https://some-site.xyz -k got same with above Go code, that is together with -k (--insecure) it works, with cacert or without; but without -k it got similar errors:

* successfully set certificate verify locations:
*   CAfile: ./ca.crt
  CApath: /etc/ssl/certs
* TLSv1.3 (OUT), TLS handshake, Client hello (1):
* TLSv1.3 (IN), TLS handshake, Server hello (2):
* TLSv1.2 (IN), TLS handshake, Certificate (11):
* TLSv1.2 (OUT), TLS alert, unknown CA (560):
* SSL certificate problem: unable to get local issuer certificate
* Closing connection 0