Have you looked at titanium jasmine?
I never used it personally, but I heard that it is very useful for this type of thing. I'm not sure of his ability to actually test visual elements.
EDIT
To test the user interface and simulate touch events on a simulator or device, just use UIAutomation with your own workflow! Since each Titanium project is compiled into an Xcode project (which can and should at least be profiled for memory leaks using its own workflow before being released to the application store), you can simply follow the steps here to write your own tests in Javascript.
As a first step, run the application in the simulator, then go to PROJECT_HOME/build/ and open the xcodeproj file. As soon as inside Xcode hold the Run button, click on the "Profile" button, which will open the "Tools" and add the "Automation" widget, as in the link I provided!
This is not specific titanium, it can be used for any iOS application and it seems like a great tool for every iOS developer, as well as Allocators and Memory Leak widgets inside the tools.
Perhaps the best alternative is Gorilla Logic's free MonkeyTalk . This is a little more straightforward if you are not very good at Xcode, and it has (theoretically) the ability to test iOS and Android.