fix: Validation error messages are inconsistent #4348

[guilhermecastros]

Reasons for making this change

• Replaced message field with property schema title or ui:title correctly
• Fixes #4348

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Checklist

• [ ] I'm updating documentation
  • [ ] I've checked the rendering of the Markdown text I've added
• [x] I'm adding or updating code
  • [x] I've added and/or updated tests. I've run npx nx run-many --target=build --exclude=@rjsf/docs && npm run test:update to update snapshots, if needed.
  • [ ] I've updated docs if needed
  • [x] I've updated the changelog with a description of the PR
• [ ] I'm adding a new feature
  • [ ] I've updated the playground with an example use of the feature