KAFKA-19807: Add RPC-level integration tests for StreamsGroupHeartbeat [2/2] (#20762)

## What
Ticket: https://issues.apache.org/jira/browse/KAFKA-19807
Follow up on #20757, add tests that:
1. Test member with topology that triggers internal topic auto creation
2. Test member heartbeat under dynamic configuration
(`streams.num.standby.replicas`) change
3. Test membership expiring and rejoining
4. Test member heartbeat before and after group coordinator's restart

Reviewers: Lucas Brutschy <lbrutschy@confluent.io>

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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Author: lucliu1108