TopologyTestDriver based Kafka Streams test require dependency package org.apache-kafka:kafka-streams-test-utils. I have not seen this referenced in spring-kafka or spring-cloud packages. So now you need to kafka.version of this package in sync with spring-kafka-test kafka version.
It would be a good idea to add kafka-streams-test-utils as dependence to spring-kafka-test or add separate spring-kafka-streams-test package?
This is relating the discussion in spring-cloud/spring-cloud-stream-samples#144 and @garyrussell request to create issue here.