Add filtering over action collection to test util

The getFutureForIntent utils currently filter on a single action, but
often we want to listen for multiple actions.

Add a version which takes a collection of actions, completing if the
predicate succeeds following any of the actions being received.

Flag: TEST_ONLY
Test: atest CtsAudioRecordPermissionTests
Bug: 349468644
Change-Id: I13d7b60f373897413316b6b96564e0c0c75236d1