KAFKA-19481: Fix flaky test testConsumerGroupHeartbeatWithRegex (apache#20298)

### Description
This change fixes the flaky test testConsumerGroupHeartbeatWithRegex,
which fails with the following log. [Develocity

link](https://develocity.apache.org/scans/tests?search.timeZoneId=America%2FChicago&tests.container=kafka.api.AuthorizerIntegrationTest&tests.test=testConsumerGroupHeartbeatWithRegex())
`org.opentest4j.AssertionFailedError: Unexpected assignment
ConsumerGroupHeartbeatResponseData(throttleTimeMs=0, errorCode=0,
errorMessage=null, memberId='OGfeiEjOQbqUTsJgtGMCdQ', memberEpoch=1,
heartbeatIntervalMs=5000, assignment=null) ==> expected: not <null>`

I addressed the issue by using `TestUtils.tryUntilNoAssertionError()` to
allow for retries.

**Root Cause:**
The failure occurs because the test depends on an async
operation, `refreshRegularExpressions`,

within [`GroupMetadataManager`](https://github.com/apache/kafka/blob/trunk/group-coordinator/src/main/java/org/apache/kafka/coordinator/group/GroupMetadataManager.java#L3184-L3187)
, which may not  complete running before assertion runs.
* Also 1 indicator async operation did not finish is the log
`memberEpoch=1`  because when this test successful runs `memberEpoch=2`
at end. Initially updated from epoch  0 -> 1

[here](https://github.com/apache/kafka/blob/trunk/group-coordinator/src/main/java/org/apache/kafka/coordinator/group/GroupMetadataManager.java#L2240).
Once `refreshRegularExpressions` is done,
`handleRegularExpressionsResult` updates epoch from 1 -> 2

[here](https://github.com/apache/kafka/blob/trunk/group-coordinator/src/main/java/org/apache/kafka/coordinator/group/GroupMetadataManager.java#L3385)

`refreshRegularExpressions`  is responsible for resolving regular
expression based subscriptions to the current set of matching topic
names in the cluster.

### Testing
- Used this command
```
for i in {1..100}; do echo "Run #$i"; ./gradlew :core:integrationTest
--rerun-tasks --tests
kafka.api.AuthorizerIntegrationTest.testConsumerGroupHeartbeatWithRegex;
if [ $? -ne 0 ]; then echo "Test failed on run #$i"; exit 1; fi; done;
echo "All 100 runs passed successfully."
```
- Also added intentional wait to async call and confirmed it passed

**Note:**
I ran this 100 times locally, but was unable to reproduce the same
error. Only way I was able to reproduce was by adding a sleep of a
second to async call then got the same exact error.

Reviewers: Sean Quah <[email protected]>, PoAn Yang <[email protected]>

Author: jmmonte2

core/src/test/scala/integration/kafka/api/AuthorizerIntegrationTest.scala

@@ -3123,8 +3123,10 @@ class AuthorizerIntegrationTest extends AbstractAuthorizerIntegrationTest {
     addAndVerifyAcls(Set(allowAllOpsAcl), groupResource)
     addAndVerifyAcls(Set(allowAllOpsAcl), topicResource)
 
-    val response = sendAndReceiveFirstRegexHeartbeat(Uuid.randomUuid.toString, listenerName)
-    sendAndReceiveRegexHeartbeat(response, listenerName, Some(1))
+    var response = sendAndReceiveFirstRegexHeartbeat(Uuid.randomUuid.toString, listenerName)
+    TestUtils.tryUntilNoAssertionError() {
+      response = sendAndReceiveRegexHeartbeat(response, listenerName, Some(1))
+    }
   }
 
   @Test