fix: clean up tls cert error display in cli

[BruceMacD]

Summary

When there was an error in TLS certificate validation we output the error, which looks confusing to the user with the trace:

  Logging in to 137.184.245.223
Could not verify certificate for host "137.184.245.223": Get "https://137.184.245.223": x509: “Infra” certificate is not trusted
? Are you sure you want to continue? Yes
? Select a login method: Okta (tmlw.okta.com)
  Logging in with Okta...

Output a human friendly one-liner instead:

$ infra login localhost
  Logging in to localhost
? “Infra” certificate is not trusted, are you sure you want to continue? Yes
? Select a login method:  [Use arrows to move, type to filter]
> okta (dev.okta.com)
  Login with Access Key

Checklist

• Wrote appropriate unit tests
• Considered security implications of the change
• Updated associated docs where necessary
• Updated associated configuration where necessary
• Change is backwards compatible if it needs to be (user can upgrade without manual steps?)
• Nothing sensitive logged
• Commit message conforms to Conventional Commit

Related Issues

Resolves # 936