chore: Better logging for signature verification failure

[mattverse]

Description

Closes: #XXXX

Upon verifying signatures, we overwrite error messages for legacy amino signers, due to high possibility that sequence number is the potential cause of failure for verifying signature. However, for other cases, we should return error message of why signature verification failed, instead of overwriting the original error message.

---

Author Checklist

All items are required. Please add a note to the item if the item is not applicable and
please add links to any relevant follow up issues.

I have...

• included the correct type prefix in the PR title
• added ! to the type prefix if API or client breaking change
• targeted the correct branch (see PR Targeting)
• provided a link to the relevant issue or specification
• followed the guidelines for building modules
• included the necessary unit and integration tests
• added a changelog entry to CHANGELOG.md
• included comments for documenting Go code
• updated the relevant documentation or specification
• reviewed "Files changed" and left comments if necessary
• confirmed all CI checks have passed

Reviewers Checklist

All items are required. Please add a note if the item is not applicable and please add
your handle next to the items reviewed if you only reviewed selected items.

I have...

• confirmed the correct type prefix in the PR title
• confirmed ! in the type prefix if API or client breaking change
• confirmed all author checklist items have been addressed
• reviewed state machine logic
• reviewed API design and naming
• reviewed documentation is accurate
• reviewed tests and test coverage
• manually tested (if applicable)

[mattverse]

Wondering if this can be breaking change by any chance 🤔

[facundomedica]

LGTM, I was thinking about this literally 2 days ago. Tysm!
This might be breaking for external tools, although it's on an error case so I doubt it's critical