build: use the latest versions of Chrome (v87) and Firefox (v84) in tests (#40150)

This commit updates the versions of Chrome and Firefox used in tests -
both with Bazel and without (via Puppeteer) - to the latest:
- Chrome v87
- Firefox v84

PR Close #40150

scripts/puppeteer-chromedriver-versions.js

@@ -13,6 +13,9 @@
 // "chromium_revision": "722234" but this does not map easily to the Chrome version
 // so we use this mapping here instead.
 module.exports = {
+  '5.4.1': '87.0.4280.0',
+  '5.3.1': '86.0.4240.0',
+  '5.2.1': '85.0.4182.0',
   '5.1.0': '84.0.4147.0',
   '3.3.0': '83.0.4103.0',
   '3.2.0': '83.0.4103.0',