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I can show you one without Maven and Gradle but using Ivy.
A pure ANT example would be very similar, you just have to handle the dependencies your self.
To answer your questions:
1) Yes, but you need to manually configure the dependencies. The best way to see which are required is by using a Ivy/Gradle/Maven and have it print out it's dependencies.
2) I guess you could create a Maven pom that defines the dependencies and output them to a folder on disk. You can then call this from ANT and include the output folder on your classpath. Using ivy is probably a better solution tho.
3) see above..
Maven Profiles are only used to 'isolate' the classpath when you need to run with multiple containers, e.g. JBoss AS 6 and 7 or Remote and Managed containers. Arquillian only allow one type of container on classpath at runtime.