tests: use gotest.tools/v3/assert instead of testify/require

[technicallyty]

Summary

the sdk team will be replacing usage of stretchr/testify with gotest.tools/v3/assert. we should do the same to stay aligned with the sdk.

Problem Definition

ref:
cosmos/cosmos-sdk#12291 (comment)

Proposal

use gotest.tools/v3/assert where for future tests and possibly update older tests.

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[ryanchristo]

gotest.tools provides a command to automate the migration:

https://pkg.go.dev/[email protected]+incompatible/assert/cmd/gty-migrate-from-testify