Give deformable integration test more time (#22980)

Simulating for 5 seconds (needed for the body to come to rest) takes
a while in debug mode in CI.

Author: xuchenhan-tri

multibody/plant/BUILD.bazel

@@ -1063,6 +1063,7 @@ drake_cc_googletest(
 
 drake_cc_googletest(
     name = "deformable_integration_test",
+    timeout = "moderate",
     deps = [
         ":multibody_plant_config_functions",
         ":multibody_plant_core",