I think the only issue here is a harmless error in your calculation and that there is a normalization of the $R$-matrix for $U_q(sl_N)$ by a factor of $q^{1/2}$ which you have omitted (See 8.4.2 of Klymik Schmudgen).
First, I get $(R^{21}_{12})^{-1} (R^{-1})^{21}_{12} = -q^{-1} R^{21}_{12}$,
because $\langle(S\otimes id)(R),a^2_1\otimes a^1_2\rangle = \langle R,S(a^2_1)\otimes a^1_2 \rangle = -q^{-1} \langle R,a^2_1\otimes a^1_2\rangle$, using that $S(b)=-q^{-1} b$ from Proposition 4.1.2.3 of Klymik Schmudgen. So the actual matrix you should get should just be $q^{-1}$ times what you had expected to get.
Now the factor of q^{-1} here is because you had multiplied the actual universal R matrix by $q^{1/2}$ and so $(\lambda A)^{-1} = \lambda^{-1} A^{-1}$, so there's a factor of $\lambda^2$ as a discrepancy.
I hope this helps!

