So, far my understanding was Modular addition is non linear function which is mainly used in ARX based ciphers.
While I was glancing through RC5 paper (https://link.springer.com/content/pdf/10.1007/3-540-60590-8_7.pdf) the author has mentioned that the only non-linear operation is "data dependent left-rotation", even though it has modulo 2^n addition.
In the given paper, the author, has not mentioned about finite field details, so it is assumed that the addition operation is happening on n-bit register.
I am attaching the image for the reference and also note the last 3 lines.
