It doesn't matter how "steady" your hand "appears", human muscles "tremor" to keep pressure balanced. Use the "extra hands" and the technique described above. Your module should never even begin to heat up enough for you to "feel" it.
The helping hands (alligator clips mounted to pose-able joints) is a very good device for soldering. I use one of these to hold two components so that the leads remain right where I want them until I get them soldered.