BUG: `assert_series_equal` raises when series contains `dict` of `np.array`s
- [x] I have checked that this issue has not already been reported.

- [x] I have confirmed this bug exists on the latest version of pandas.

- [ ] (optional) I have confirmed this bug exists on the master branch of pandas.

---

#### Code Sample, a copy-pastable example

```python
import numpy as np
s = pd.Series([{'a': np.array(['xx', 'yy'])}])
s2 = pd.Series([{'a': np.array(['xx', 'yy'])}])
pd.testing.assert_series_equal(s, s2)
```

#### Problem description
Raises:
```
---------------------------------------------------------------------------
ValueError                                Traceback (most recent call last)
<ipython-input-94-c9299c384117> in <module>
      2 s = pd.Series([{'a': np.array(['xx', 'yy'])}])
      3 s2 = pd.Series([{'a': np.array(['xx', 'yy'])}])
----> 4 pd.testing.assert_series_equal(s, s2)

~/compose/etc/conda/cuda_11.2/envs/notebooks/lib/python3.7/site-packages/pandas/_testing.py in assert_series_equal(left, right, check_dtype, check_index_type, check_series_type, check_less_precise, check_names, check_exact, check_datetimelike_compat, check_categorical, check_category_order, check_freq, check_flags, rtol, atol, obj)
   1482             check_dtype=check_dtype,
   1483             obj=str(obj),
-> 1484             index_values=np.asarray(left.index),
   1485         )
   1486 

pandas/_libs/testing.pyx in pandas._libs.testing.assert_almost_equal()

pandas/_libs/testing.pyx in pandas._libs.testing.assert_almost_equal()

~/compose/etc/conda/cuda_11.2/envs/notebooks/lib/python3.7/site-packages/pandas/core/dtypes/missing.py in array_equivalent(left, right, strict_nan, dtype_equal)
    427     # string dtypes must be come to this path for NumPy 1.7.1 compat
    428     if is_string_dtype(left.dtype) or is_string_dtype(right.dtype):
--> 429         return _array_equivalent_object(left, right, strict_nan)
    430 
    431     # NaNs can occur in float and complex arrays.

~/compose/etc/conda/cuda_11.2/envs/notebooks/lib/python3.7/site-packages/pandas/core/dtypes/missing.py in _array_equivalent_object(left, right, strict_nan)
    482         else:
    483             try:
--> 484                 if np.any(np.asarray(left_value != right_value)):
    485                     return False
    486             except TypeError as err:

ValueError: The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()
```

#### Expected Output
`True`

#### Output of ``pd.show_versions()``

<details>

INSTALLED VERSIONS
------------------
commit           : 2cb96529396d93b46abab7bbc73a208e708c642e
python           : 3.7.10.final.0
python-bits      : 64
OS               : Linux
OS-release       : 4.15.0-76-generic
Version          : #86-Ubuntu SMP Fri Jan 17 17:24:28 UTC 2020
machine          : x86_64
processor        : x86_64
byteorder        : little
LC_ALL           : None
LANG             : None
LOCALE           : en_US.UTF-8

pandas           : 1.2.4
numpy            : 1.20.2
pytz             : 2021.1
dateutil         : 2.8.1
pip              : 21.1.1
setuptools       : 52.0.0.post20210125
Cython           : 0.29.23
pytest           : 6.2.4
hypothesis       : 6.12.0
sphinx           : 4.0.1
blosc            : None
feather          : None
xlsxwriter       : None
lxml.etree       : None
html5lib         : None
pymysql          : None
psycopg2         : None
jinja2           : 2.11.3
IPython          : 7.3.0
pandas_datareader: None
bs4              : None
bottleneck       : None
fsspec           : 2021.04.0
fastparquet      : None
gcsfs            : None
matplotlib       : 3.3.2
numexpr          : None
odfpy            : None
openpyxl         : None
pandas_gbq       : None
pyarrow          : 1.0.1
pyxlsb           : None
s3fs             : None
scipy            : 1.6.3
sqlalchemy       : None
tables           : None
tabulate         : None
xarray           : None
xlrd             : None
xlwt             : None
numba            : 0.53.1
</details>
