Add `futures` CI check

Add `futures` CI check

This adds testing of the `futures` feature to CI. In order to avoid
introducing a dependency on `std`, we switch to using the `futures-util`
crate directly enabling only a subset of features. To this end, we also
switch to using the `select_biased!` macro, which is equivalent to
`select!` except that it doesn't choose ready futures pseudo-randomly
at runtime.