This is a common when testing. I've never seen a proper solution for this.

Some people would disabling the csrd token middleware when testing.

To disable The CSFR Check you can add the following to your class:

class MyTest extends TestCase
{
    use WithoutMiddleware;
    ...

or you can use a check in the middleware if env == testing just return/go to next request.. (cant remember the exact code)

If you look at the middleware you can see how it works, it retrieves the stored session value for _token from session. So you can avoid the exception by simple passing some session data with your request:

            $this->withSession(['_token'=>'test']) //here
                ->makeRequest('POST', $deleteEntry, [
                    'id'=>1,
                    '_token'=>'test' //here 
            ])->seePageIs($url);