imp(ibc)!: refactor error handling throughout codebase

[seanchen1991]

Closes: #270 Closes: #950 Closes: #1319 Closes: #1320 Closes: #1330 Closes: #1339 Closes: #1346

Description

The branch of this PR is a feature branch that includes changes from the following PRs:

• [x] #1347
• [x] #1345
• [x] #1343
• [x] #1335
• [x] #1331
• [x] #1325
• [x] #1321
• [x] #1318
• [x] #1317

---

PR author checklist:

• [X] Added changelog entry, using unclog.
• [X] Linked to GitHub issue.
• [X] Updated code comments and documentation (e.g., docs/).
• [X] Tagged one reviewer who will be the one responsible for shepherding this PR.

Reviewer checklist:

• [ ] Reviewed Files changed in the GitHub PR explorer.
• [ ] Manually tested (in case integration/unit/mock tests are absent).

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 55.92303% with 733 lines in your changes missing coverage. Please review.

Project coverage is 66.76%. Comparing base (8d36c68) to head (adb5514). Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
ibc-testkit/src/testapp/ibc/core/core_ctx.rs	64.28%	50 Missing :warning:
...core/ics24-host/cosmos/src/validate_self_client.rs	0.00%	42 Missing :warning:
ibc-core/ics02-client/types/src/events.rs	55.26%	34 Missing :warning:
ibc-core/ics23-commitment/types/src/merkle.rs	4.16%	23 Missing :warning:
ibc-apps/ics721-nft-transfer/src/handler/mod.rs	0.00%	22 Missing :warning:
ibc-apps/ics721-nft-transfer/src/module.rs	23.07%	20 Missing :warning:
ibc-core/ics02-client/types/src/error.rs	28.57%	20 Missing :warning:
ibc-apps/ics20-transfer/src/module.rs	20.83%	19 Missing :warning:
ibc-core/ics25-handler/types/src/msgs.rs	0.00%	19 Missing :warning:
ibc-clients/ics07-tendermint/types/src/header.rs	60.00%	18 Missing :warning:
... and 80 more

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #1350 +/- ## ========================================== + Coverage 66.43% 66.76% +0.33% ========================================== Files 227 225 -2 Lines 23076 22614 -462 ========================================== - Hits 15330 15098 -232 + Misses 7746 7516 -230 ```

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