Error handling

### Describe what should be investigated or refactored

- Consider refactoring UDS CLI's error handling to use the `context` to enable better traceability in our errors
- Consider implementing the the [Richer Error Model](https://grpc.io/docs/guides/error/)
- https://github.com/dapr/dapr/blob/master/pkg/api/errors/README.md

Start by reading the issue's linked gRPC Richer Error Model guidance and pkg/api/errors/README.md. Then inspect the UDS CLI error paths and how context is currently used. Done requires an agreed refactoring scope and a clear decision on whether to implement the richer error model.

Written by the indexing model from the issue text.