Use LOG_ERROR + return statement instead of LOG_AND_RETURN_ERROR...

...in three files.

This change refactors manual error logging and makes return statements
visible in the C++ code. This CL specifically updates RtpSender,
RtpTransceiver, and RtpTransmissionManager.

Adding more static helper methods to RTCError to reduce boilerplate:
- InvalidState()
- InvalidModification()
- UnsupportedOperation()
- UnsupportedParameter()

A part of this is to use stream insertion for error messages, consistent
with logging.

Bug: none
Change-Id: I5e20eb92c4a0e5870b9e39fce9027cb1a93d8a06
Reviewed-on: https://webrtc-review.googlesource.com/c/src/+/442480
Commit-Queue: Tomas Gunnarsson <tommi@webrtc.org>
Reviewed-by: Danil Chapovalov <danilchap@webrtc.org>
Cr-Commit-Position: refs/heads/main@{#46677}