Printables for verification preconditions (backport #2663) (#2680)

* Printables for verification preconditions (#2663)

Add support for printable within assert and assume verification statements

Co-authored-by: Girish Pai <girish.pai@sifive.com>
Co-authored-by: Megan Wachs <megan@sifive.com>
Co-authored-by: Jack Koenig <koenig@sifive.com>
(cherry picked from commit 7df56533

)

* Waive MiMa false positive

Co-authored-by: Aditya Naik <91489422+adkian-sifive@users.noreply.github.com>
Co-authored-by: Jack Koenig <koenig@sifive.com>