[testnet] Align testnet system parachain runtimes using `RelayTreasuryLocation` and `SystemParachains` in the same way (#2023)

This PR addresses several issues:
- simplify referencing `RelayTreasuryLocation` without needing
additional `RelayTreasury` struct
- fix for referencing `SystemParachains` from parachain with `parents:
1` instead of `parents: 0`
- removed hard-coded constants and fix tests for `asset-hub-rococo`
which was merged to master after
https://github.com/paritytech/polkadot-sdk/pull/1726

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Co-authored-by: command-bot <>