imp: use error returns in VerifyMembership fns

Description

made this change in relation to https://github.com/cosmos/ics23/pull/391

Example error message now:

failed to verify membership proof at index 0: provided value doesn't match proof: invalid proof

Previous error message:

chained membership proof failed to verify membership of value: 696E76616C69642076616C7565 in subroot FED126FA5980E8E5261C96B693BB0DB1999AA07C23CD5A53F23D59340A3F4A1C at index 0. Please ensure the path and value are both correct.: invalid proof

closes: #183

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cosmos / ibc-go

imp: use error returns in VerifyMembership fns #7492

Description

Quality Gate passed for 'ibc-go'