BUG/COMPAT: fix assert_* functions for nested arrays with latest numpy
This adds tests for `assert_almost_equal` (used by `assert_series_equal` et al in case of object dtype arrays) that all pass on pandas main with released numpy (except for two cases with dict of array), and fixes the implementation of `array_equivalent` (used by `assert_almost_equal`) to return False instead of raising an error if numpy cannot compare the arrays (numpy 1.25.dev starts to raise for this instead of returning False).

I also added a bunch of equivalent tests for `array_equivalent` itself, but those don't all pass (and added xfails). Trying to fix those as well might need more extensive changes, and I would prefer to do that separate from this PR (to keep this one possible to backport).

See https://github.com/pandas-dev/pandas/issues/50360#issuecomment-1362678681 for an illustration of the behaviour that changed in numpy 1.25.dev that causes this.

- [x] closes https://github.com/pandas-dev/pandas/issues/50360
- [x] [Tests added and passed](https://pandas.pydata.org/pandas-docs/dev/development/contributing_codebase.html#writing-tests) if fixing a bug or adding a new feature
- [ ] All [code checks passed](https://pandas.pydata.org/pandas-docs/dev/development/contributing_codebase.html#pre-commit).
- [ ] Added [type annotations](https://pandas.pydata.org/pandas-docs/dev/development/contributing_codebase.html#type-hints) to new arguments/methods/functions.
- [x] Added an entry in the latest `doc/source/whatsnew/vX.X.X.rst` file if fixing a bug or adding a new feature.

Any other comments here? Thanks @jbrockmendel 