KIP-680 — TopologyTestDriver should not require a Properties argument

Accepted Kafka 2.8 StreamsTesting

Adds no-arg and clock-time-only constructors to `TopologyTestDriver` so tests that require no special configuration do not need to supply an empty `Properties` object. The single existing constructor required a `Properties` argument even for tests that need no configuration, adding boilerplate and randomizes the `application.id` by default to prevent test isolation issues.

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