KVM: selftests: Move vCPU thread creation and joining to common helpers

Move vCPU thread creation and joining to common helper functions. This
is in preparation for the next commit which ensures that all vCPU
threads are fully created before entering guest mode on any one
vCPU.

No functional change intended.

Signed-off-by: David Matlack <dmatlack@google.com>
Reviewed-by: Ben Gardon <bgardon@google.com>
Message-Id: <20211111001257.1446428-3-dmatlack@google.com>
Signed-off-by: Paolo Bonzini <pbonzini@redhat.com>