Improve error handling and logging in CommsDecoder interface

Resurrect https://github.com/apache/airflow/pull/45927 and extend it.

Every request should have a response that the client reads.

We need the ability to pass/send errors from Supervisor to the task code (for instance if there is an error performing an action, or if the XCom can't be found) -- right now each end point handles this itself in a different way.

https://github.com/apache/airflow/blob/eb05869b6de611185b47539a443bf131ad7702bd/task_sdk/src/airflow/sdk/api/client.py#L267-L282 for example shouldn't be handled in the API Client, but it should expose/raise the 404 to the Task itself and it should be handled there