feat(sdk): add structured error hierarchy with AuthenticationError #61

Job	Run time
test (18.x)	1m 25s
test (20.x)	2m 7s
codeql / Analyze (actions)	1m 57s
codeql / Analyze (javascript-typescript)	1m 51s
build-docs	0s
release	0s
	7m 20s

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