add FeeManager to pallet xcm (#5363)

Closes #2082

change send xcm to use `xcm::executor::FeeManager` to determine if the
sender should be charged.

I had to change the `FeeManager` of the penpal config to ensure the same
test behaviour as before. For the other tests, I'm using the
`FeeManager` from the `xcm::executor::FeeManager` as this one is used to
check if the fee can be waived on the charge fees method.

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Co-authored-by: Adrian Catangiu <adrian@parity.io>
Co-authored-by: GitHub Action <action@github.com>