it is time [to] include JCasC test harness […] into Jenkins Test Harness
Not possible. It depends on plugins.
or to Plugin POM
No. If you want to depend on JCasC the `bom` sets up versions for you. (For most cases you should not need to explicitly mention JCasC in your plugin since you should just be defining settings using simple, plain idioms that work automatically in any context—GUI forms, Pipeline, JCasC. It is necessary however when you are forced into weird Java structures for compatibility reasons.)
The correct solution here is to update the parent POM as Tim says, or use an older version of JCasC. If your IDE does not let you run a current version of a tool, run it from a shell instead, or use a different IDE to run local tests. As a workaround you could specify an explicit `jenkins-test-harness.version` in your POM pending a parent update, or even try to add an `exclusion` from `io.jenkins.configuration-as-code:test-harness` and hope that JCasC was not actually relying on recently introduced features.