Physics joints solve for last frame's position when node is controlled inside a script.

### Tested versions

4.2.1 stable, Godot Physics and Jolt Physics

### System information

Windows 11 version 10.0.22631 - Vulkan (Forward+) - dedicated AMD Radeon RX 7900 XTX (Advanced Micro Devices, Inc.; 31.0.22023.1014) - AMD Ryzen 7 7800X3D 8-Core Processor (16 Threads)

### Issue description

When a joint is connected to a script-controlled physics body (CharacterBody, RigidBody in kinematic mode), and a RigidBody node, the joint solver solves for the script-controlled physics body's last position, rather than current position.

The RigidBody solves to be 1 frame behind the CharacterBody

https://github.com/godotengine/godot/assets/38119387/b5e87b8e-a389-48ab-9e51-f6b2b93be854

Here I have set the CSGBox's position to be `-velocity * delta` (last frame's position), where it matches the RigidBody. I have not adjusted the Camera's position, so you can tell the CSGBox and RigidBody are following 1 frame behind.

https://github.com/godotengine/godot/assets/38119387/6255ef5e-c951-45ea-9bff-bcf297dbcdf4

I believe this is because _physics_process is run after the physics tick, and after joints have solved.

### Steps to reproduce

Connect a RigidBody to a CharacterBody using a physics joint. Move CharacterBody.

### Minimal reproduction project (MRP)

[minimal.zip](https://github.com/godotengine/godot/files/14110845/minimal.zip)
White cube is the CharacterBody. Red sphere is the Rigidbody. Camera is affixed to the CharacterBody.

Start by running the linked minimal.zip project and reproducing the one-frame lag between the CharacterBody and RigidBody connected by a physics joint. Read the issue's description of _physics_process timing and compare the joint solver's result with the CharacterBody's current and previous positions; done means the connected RigidBody follows the script-controlled body without the frame delay.

Written by the indexing model from the issue text.