The recent active development of Internet of Things (IoT) solutions in various domains has led to an increased demand for security, safety, and reliability of these systems. Security and data privacy are currently the most frequently discussed topics; however, other reliability aspects also need to be focused on to maintain smooth and safe operation of IoT systems. Until now, there has been no systematic mapping study dedicated to the topic of interoperability and integration testing of IoT systems specifically; therefore, we present such an overview in this study. We analyze 803 papers from four major primary databases and perform detailed assessment and quality check to find 115 relevant papers. In addition, recently published testing techniques and approaches are analyzed and classified; the challenges and limitations in the field are also identified and discussed. Research trends related to publication time, active researchers, and publication media are presented in this study. The results suggest that studies mainly focus only on general testing methods, which can be applied to integration and interoperability testing of IoT systems; thus, there are research opportunities to develop additional testing methods focused specifically on IoT systems, so that they are more effective in the IoT context.