Remove `xcm::v3` from `assets-common` nits (#4037)

This PR mainly removes `xcm::v3` stuff from `assets-common` to make it
more generic and facilitate the transition to newer XCM versions. Some
of the implementations here used hard-coded `xcm::v3::Location`, but now
it's up to the runtime to configure according to its needs.

Additional/consequent changes:
- `penpal` runtime uses now `xcm::latest::Location` for `pallet_assets`
as `AssetId`, because we don't care about migrations here
- it pretty much simplify xcm-emulator integration tests, where we don't
need now a lots of boilerplate conversions:
      ```
      v3::Location::try_from(...).expect("conversion works")`
      ```
- xcm-emulator tests
- split macro `impl_assets_helpers_for_parachain` to the
`impl_assets_helpers_for_parachain` and
`impl_foreign_assets_helpers_for_parachain` (avoids using hard-coded
`xcm::v3::Location`)