Rename query_xyz_tap and query() methods to query_tap

As we discussed in https://github.com/astropy/astroquery/pull/2122#discussion_r849801179, it would make sense to rename the module specific tap methods to be a generic `query_tap`, to simplify the API.

With the exception of HSA (which hasn't yet been released), this has to be done with proper deprecation. I milestone it to 0.4.7, so we'll avoid the need to deprecate for HSA (and well, 0.4.7 will have a ton of cleanup work, this would fit nicely in that logic).

Affected modules:
```
astroquery/esa/iso/core.py: def query_ida_tap(self, query, *, output_file=None,
astroquery/esa/hubble/core.py: def query_hst_tap(self, query, async_job=False, output_file=None,
astroquery/esa/xmm_newton/core.py: def query_xsa_tap(self, query, *, output_file=None,
astroquery/esa/hsa/core.py: def query_hsa_tap(self, query, *, output_file=None,
```

- [ ] esa.iso
- [x] esa.hubble https://github.com/astropy/astroquery/pull/2597
- [ ] esa.xmm_newton
- [ ] esa.hsa

cc @jespinosaar

Start by reading the affected methods in astroquery/esa/iso/core.py, astroquery/esa/xmm_newton/core.py, and astroquery/esa/hsa/core.py, then review the linked Hubble pull request and discussion for the deprecation approach. Done means the remaining modules expose query_tap, with proper deprecation except for unreleased HSA, while Hubble remains complete.

Written by the indexing model from the issue text.