fix: catch missing params when they are required in navigate (facebook#8389)

There is a problem with the enforcement of required params in `navigation.navigate(...)` in TypeScript as described in react-navigation/react-navigation#7936

@Miyou found a fix 🥳. All credits go to him.

I needed this so went ahead and submitted a PR and added a test to avoid it from breaking in the future.

However note that until this project switches to TypeScript 3.9 with support for [`@ts-expect-error`](https://devblogs.microsoft.com/typescript/announcing-typescript-3-9-beta/#ts-expect-error-comments), it can still break silently.

Before the change, this is how the test looks:
<img width="861" alt="Screenshot 2020-06-05 at 22 51 00" src="https://user-images.githubusercontent.com/57791/83923057-c53dc180-a781-11ea-8c35-36406a23a717.png">
As you can see it doesn't catch the missing params which are required on line 28.

After the change, all expected errors are raised:
<img width="812" alt="Screenshot 2020-06-05 at 22 51 59" src="https://user-images.githubusercontent.com/57791/83923413-80665a80-a782-11ea-8ff2-f5af3f4e1f32.png">

Let me know what you think.

Author: jeanregisser

packages/core/src/types.tsx

@@ -152,7 +152,7 @@ type NavigationHelpersCommon<
    * @param [params] Params object for the route.
    */
   navigate<RouteName extends keyof ParamList>(
-    ...args: ParamList[RouteName] extends undefined | any
+    ...args: undefined extends ParamList[RouteName]
       ? [RouteName] | [RouteName, ParamList[RouteName]]
       : [RouteName, ParamList[RouteName]]
   ): void;