feat(cdk/testing): Create `WebDriverHarnessEnvironment`

[mmalerba]

Feature Description

There's not much Protractor-specific about the ProtractorHarnessEnvironment. We could make it more flexible by creating a more generic WebDriverHarnessEnvironment that works with WebDriver types rather than Protractor types. For backwards compatibility we would still need a version that works with Protractor types, but it could just be a thin wrapper.

Use Case

Enable users who use WebDriver but not Protractor to use harnesses in their tests.

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