Add support for Instantiate for BlackBox, ExtModule, and IntrinsicModule (#3349) (#3351)

* Allow IntrinsicModule to be used in Instantiate

Change a few `RawModule`s to `BaseModule`s to allow for intrinsic
modules to be used with the instantiation API.

* Add tests for Instantiate of non-RawModules

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Co-authored-by: Fabian Schuiki <fabian@schuiki.ch>
(cherry picked from commit 951f8b7c

)

Co-authored-by: Jack Koenig <koenig@sifive.com>