Inconsistencies in Bidirectional Streaming Error Handling

### What version of gRPC-Java are you using?
1.33.0

### What is your environment?
macOS 10.15 (but also tested on Ubuntu 18.04), JDK version 11

### What did you expect to see?
Documentation on when and what onError() callbacks are called when receiving errors from either side (server / client), and a consistent behavior in both.
Also - a consistent error (and documentation) of using a stream after an error has been raised on it.

### What did you see instead?
Multiple inconsistencies in Exception classes and whether they've even been thrown.
I performed some tests and summarized the results on my blog post: https://lewin.co.il/inconsistencies-in-grpc-java-error-handling-with-bidirectional-streams

### Steps to reproduce the bug
A project reproducing all the above bugs can be found here: https://github.com/GuyLewin/grpc-bidirectional-streaming-error-handling