Replace `panelReady` event for triggering initial sidebar display
The initial un-hiding and opening of the sidebar was previously triggered by a `panelReady` event emitted by the Guest in the host frame when it connects. As part of eliminating the need for the host frame to also be a guest, change the initial sidebar open to use the `Sidebar.ready` promise instead, which is resolved when the sidebar applicaiton sends a `hypothesisSidebarReady` notice to the `Sidebar` app. Part of https://github.com/hypothesis/client/issues/3798
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