After several more hours of investigation, I finally found a workaround!
I was always wondering why I was able to create it locally on my machine, but not with Jenkins or even not with ANT from the command line on the remote server where Jenkins works. Therefore, instead of performing ANT with ...
ant -Dsdk.dir=<YOUR SDK DIR> -Dtested.project.dir=<PATH TO YOUR PROJECT UNDER TEST> clean debug install test
...
I set the test.project.dir property in the ant.properties file to the correct path on the server and checked this in the source code repository. Then I removed the property from the argument list for ANT in Jenkins, so now Jenkins only performs
ant -Dsdk.dir=<YOUR SDK DIR> clean debug install test
And finally, it works.
(Of course, there is no good practice for checking specific path information in the repository, but finally it works ...)
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