fix(app): ensure gantry not blocking pcr seal placement

[b-cooper]

Overview

The prompt to place the PCR seal in the app was occuring while the gantry was still hovering over
the TC's labware. This changes the order of the confirmation process, to allow the tip to be
returned before prompting about the pcr seal

Closes #4034

NOTE: This also fixes a small regression relating to getUnpreparedModule that was introduced by #3994

review requests

• Please go through the calibration process for a simple TC protocol. At the end, you should only see the "Place PCR Seal" modal after you have pressed "Return Tip and Proceed to Run".
• confirm the gantry is actually in a safe place away from the TC, and youy could actually place a seal on it.

[mcous]

Behavior and code look good. Sorry about the regression, thanks for the catch

[codecov]

Codecov Report

Merging #4071 into edge will decrease coverage by 19.19%.
The diff coverage is 0%.

@@           Coverage Diff            @@
##            edge   #4071      +/-   ##
========================================
- Coverage   76.4%   57.2%   -19.2%     
========================================
  Files        110     855     +745     
  Lines      13225   23996   +10771     
========================================
+ Hits       10105   13728    +3623     
- Misses      3120   10268    +7148

Impacted Files	Coverage Δ
...pp/src/components/CalibrateLabware/ProceedToRun.js	0% <0%> (ø)
app/src/robot-api/resources/modules.js	38.59% <0%> (ø)
...omponents/DeckSetup/LabwareOverlays/LabwareName.js	0% <0%> (ø)
...library/src/labware-creator/components/Dropdown.js	0% <0%> (ø)
protocol-designer/src/analytics/actions.js	0% <0%> (ø)
labware-library/src/localization/en.js	100% <0%> (ø)
...areUploadMessageModal/LabwareUploadMessageModal.js	0% <0%> (ø)
...etNextRobotStateAndWarnings/forAspirateDispense.js	100% <0%> (ø)
...designer/src/components/FileSidebar/FileSidebar.js	0% <0%> (ø)
...p/src/components/TipProbe/InstrumentMovingPanel.js	0% <0%> (ø)
... and 737 more

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