Identifiable Errors and Error Messages when verifying JWT, VC, VP

As an integrator, I would like Veramo to raise identifiable errors with matching english error-messages, so that I can present a more detailed error message to an end user within the integrating application.

Acceptance Criteria:
- There exists identifiable errors for various verification errors
- Error have a unique identifier that can be matched by a parent application
- Error classes have a representative error message that describes the error in english language
- Errors are raised from within Veramo (and not returned).
- Errors need to be presented via OpenAPI (e.g. 4XX with formatted JSON error identifier)
- Current Model (reuse in similar fashion): (Error Messages are identified by unique String identifier e.g. DID_NOT_FOUND. Error Message starts with message that is easily checked.)
- Log error identifiers within Veramo (specifically the message handlers)