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[C++] Replace RapidJSON in remaining JSON test utilities #51013

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@Reranko05

Describe the enhancement requested

The JSON test utilities use RapidJSON for JSON generation and pretty-printing, including test_common.h and JSON reader tests.

In addition, arrow/testing/gtest_util.cc still uses RapidJSON for parsing JSON data in TensorFromJSON().

Parent Issue: GH-35460.

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C++

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