[Backport 2.x] Improve error message when a node with an incorrectly configured certificate attempts to connect

[opensearch-trigger-bot]

Backport e0fb8fc from #4818.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 64.62%. Comparing base (fec977a) to head (39bca4a).
Report is 1 commits behind head on 2.x.

Additional details and impacted files

@@            Coverage Diff             @@
##              2.x    #4819      +/-   ##
==========================================
+ Coverage   64.60%   64.62%   +0.02%     
==========================================
  Files         320      320              
  Lines       22372    22372              
  Branches     3611     3611              
==========================================
+ Hits        14453    14458       +5     
+ Misses       6141     6135       -6     
- Partials     1778     1779       +1     

Files with missing lines	Coverage Δ
...g/opensearch/security/ssl/util/ExceptionUtils.java	52.17% <100.00%> (ø)
...rch/security/transport/SecurityRequestHandler.java	55.03% <100.00%> (ø)

... and 3 files with indirect coverage changes