Update testchipip imports to match new testchipip packaging

[jerryz123]

Testchipip will be organized into sub-packages. This PR bumps chipyard and updates the testchipip imports.

Related PRs / Issues

UI / API Impact

Verilog / AGFI Compatibility

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[jerryz123]

@abejgonzalez I don't understand why the tests are stalled. Does a button need to be clicked

[abejgonzalez]

This is good to merge. We have no AWS CI right now.