Parameterize Validator Manager Custom Errors

[cam-schultz]

Context and scope
#566 added custom errors to the validator manager contracts, primarily as a way to reduce the contract size. We should circle back and add parameters where appropriate to make the error messages more meaningful.

Discussion and alternatives

• We should evaluate the context in which each error is called, and aim to make each error case unique within a given context.
• We will need to update the unit tests to catch the parameterized errors. forge-std 1.9.2 does not yet include expectPartialRevert, which allows for name based pattern matching on custom errors, without requiring explicit parameter matches. The most robust approach would be to match parameter values anyway, though there may be some scenarios in which that's overkill.

Open questions
Questions that are still being discussed.