fix(behavior_path_planner): fix simultaneous execution

[kosuke55]

Description

cherry-pick and resolve conflict
autowarefoundation#4622

Related links

https://tier4.atlassian.net/browse/RT1-3390

Tests performed

failed scenario test

 webauto ci scenario run --project-id x2_dev --scenario-id 94ca41a5-67bf-427c-acc2-c2534195f8e7 --runtime-path . --scenario-parameters __tier4_modifier_ego_speed=2.7778,__tier4_modifier_inter_vehicular_distance=0,__tier4_modifier_npc_speed=2.7778,__tier4_modifier_spawntime=3,__tier4_modifier_prepare_time=1

lc_fixed_goal_x2-2023-08-14_19.08.25.mp4

Notes for reviewers

please set enable_simultaneous_execution_as_approved_module: true in lanechange if using x2 branch

    lane_change_left:
      enable_module: true
      enable_rtc: true
      enable_simultaneous_execution_as_approved_module: true
      enable_simultaneous_execution_as_candidate_module: false
      priority: 6
      max_module_size: 1

    lane_change_right:
      enable_module: true
      enable_rtc: true
      enable_simultaneous_execution_as_approved_module: true
      enable_simultaneous_execution_as_candidate_module: false
      priority: 6
      max_module_size: 1

Interface changes

none

Effects on system behavior

none

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[saka1-s]

LGTM.
The PR was tested on my local.