Closes RQA-2459

Do not instantiate new notification ipcRenderer event listeners for each component that intends to subscribe to the notification server. Instead re-use the same ipcRenderer listener. This not only reduces the number of emitters created, but fixes a bug in which ipcRenderer listeners were not properly disposed.

Closes RESC-216

… field (#14622)

Closes RQA-2486

RQA-2496
This "attach gripper" button text wasn't capitalized.

Now it is.

Closes RQA-2312

We previously swallowed collision errors during fast home move and
proceeded to slow home because we used to not handle encoder overflow
properly and would mistakenly raise. Now that we have fixed those
encoder issues, we should actually raise the error when the motor
stalls.

# Overview

User-facing app and robot release notes for v7.2.1.

Addresses RTC-405.

# Review requests

Coherent, correct, and complete?

# Risk assessment

No risk.

---------

Co-authored-by: Edward Cormany <[email protected]>

Fixes [RESC-214](https://opentrons.atlassian.net/browse/RESC-214)

- [x] Add simulate test that runs a protocol using `drop_tip` with no
args

- Add publisher.publish_context context manager when calling drop tip
with no args
- Add above test case to `test_simulate.py`

- It seems that the simulate drop tip functionality could benefit from
more robust test coverage. Should make sure that we validate all
branches inside of drop_tip. But is this PR the place to do it?

Very low. Just added a message and a test

[RESC-214]:
https://opentrons.atlassian.net/browse/RESC-214?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ