EPIC: Refactor existing e2e testing framework

[MSalopek]

Problem

ICS e2e testing uses a long bash script to initialize the testing environment.

Although there is nothing wrong with using bash scripts they quickly become poorly maintained due to their imperative and verbose nature.

• the script

Besides that, in the current setup it is difficult to achieve the following:

1. using arbitrary provider and consumer chains
2. configuring multi-consumer setups
3. getting comprehensive and understandable test output
4. import the e2e testing framework into both provider and consumer chain repositories
5. run in the CI

Closing criteria

At minimum the new test initialization should become declarative and allow easier running in the CI and allow arbitrary chain binaries to be used.

Related:

• https://github.com/cosmos/gaia/issues/2434
• https://github.com/cosmos/gaia/issues/2435
• https://github.com/cosmos/interchain-security/issues/875

### Tasks
- [ ] https://github.com/cosmos/interchain-security/issues/1132
- [ ] https://github.com/cosmos/interchain-security/issues/1167
- [ ] https://github.com/cosmos/interchain-security/issues/1178
- [ ] https://github.com/cosmos/interchain-security/issues/1133
- [ ] https://github.com/cosmos/interchain-security/issues/1134
- [ ] https://github.com/cosmos/interchain-security/issues/1135
- [ ] evaluate benefits of adding e2e tests of other libs into our CI [cosmos-sdk, ibc-go, other deps]
- [ ] https://github.com/cosmos/interchain-security/issues/1175
- [ ] https://github.com/cosmos/interchain-security/issues/1559

[mpoke]

@MSalopek Is this EPIC still needed?