Improve error insight for twirp related requests

[lukasIO]

example errors with this PR:

parsing string directly from body (non standard twirp error response).
Using a wrong secret key:

Unauthorized: invalid token: eyJhbGciOiJIUzI1NiJ9.xxxxx.LXnIYsbn6clLx0sixhWnGh-v0SI82Teb656awscYvGc, error: go-jose/go-jose: error in cryptographic primitive
    at TwirpRpc.request (./livekit-server-sdk/dist/TwirpRPC.js:46:13)
    at process.processTicksAndRejections (node:internal/process/task_queues:95:5)
    at async RoomServiceClient.createRoom (./livekit-server-sdk/dist/RoomServiceClient.js:40:18)
    at async request (./examples/webhooks-http/webhook.js:32:18) {
  status: 401,
  code: undefined
}

parsing json from body (standard twirp error response).
Using unsupported values:

Bad Request: the json request could not be decoded
    at TwirpRpc.request (./livekit-server-sdk/dist/TwirpRPC.js:51:13)
    at process.processTicksAndRejections (node:internal/process/task_queues:95:5)
    at async RoomServiceClient.createRoom (./livekit-server-sdk/dist/RoomServiceClient.js:40:18)
    at async request (./examples/webhooks-http/webhook.js:32:18) {
  status: 400,
  code: 'malformed'
}

[changeset-bot]

🦋 Changeset detected

Latest commit: 4f96423

The changes in this PR will be included in the next version bump.

This PR includes changesets to release 2 packages

Name	Type
livekit-server-sdk	Minor
agent-dispatch	Patch

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[davidzhao]

fantastic work Lukas!