feat(api): Return `tipPhysicallyAttachedError` from `dropTip` and `dr… #19398

Job	Run time
opentrons package linting	2m 42s
opentrons package tests on windows-2022, python 3.10	5m 17s
opentrons package tests on ubuntu-22.04, python 3.10	4m 51s
opentrons package tests on ubuntu-22.04, python 3.10	3m 25s
opentrons package tests on macos-latest, python 3.10	2m 57s
deploy opentrons package	1m 36s
	20m 48s

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