Backport claim assets tests from polkadot-fellows repo (#4930)

# Issue
[Backport integration tests for claim assets to the polkadot-sdk from
polkadot-fellows repo
#4892](https://github.com/paritytech/polkadot-sdk/issues/4892)
# Description
For the first time to contribute this project, I just finished part and
make sure everything is ok.
- [x] backport [claim_assets test
case](https://github.com/polkadot-fellows/runtimes/blob/main/integration-tests/emulated/tests/assets/asset-hub-kusama/src/tests/claim_assets.rs)
to the polkadot-sdk testnet integration tests
- [x] backport macro
[test_chain_can_claim_assets](https://github.com/polkadot-fellows/runtimes/blob/main/integration-tests/emulated/helpers/src/lib.rs#L218)
from fellows repo
- [ ] when merged to polkadot-sdk and released, make sure that it is
propagated to the fellows repo:
https://github.com/polkadot-fellows/runtimes/issues/363
- [x] backport and align other macros/test-cases from
https://github.com/polkadot-fellows/runtimes/blob/8ec28f96eeb30fbba30d29006d75e1a3fa1cea1c/integration-tests/emulated/helpers/src/lib.rs#L31-L33

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Co-authored-by: Zihan Zhao <[email protected]>
Co-authored-by: command-bot <>
Co-authored-by: Adrian Catangiu <[email protected]>
Co-authored-by: Francisco Aguirre <[email protected]>