Deprecate function overloads that do not use `sdf::Errors`

As part of the work being done [here](https://github.com/gazebosim/sdformat/issues/820), once all functions have an option to use the `sdf::Errors` parameter, the function overloads that don't have it should be deprecated.

## Desired behavior
Users of these functions should now use the `sdf::Errors` parameter to retrieve any errors and not rely on the library printing anything by itself.