Update lisk-validators to return single error and compatible type check

[shuse2]

Description

Currently, when using validate function,

const errors = validator.validate(schema, params)
if (errors.length > 0) {
	throw new LiskValidationError(errors);
}

validator.validate<SomeType>(schema, params);
where error thrown is LiskValidationError, and params should be SomeType after this function
https://github.dev/LiskHQ/lisk-sdk/blob/00595476a406f9413e77c7381803425d5d22cec9/elements/lisk-validator/src/lisk_validator.ts#L72-L87

public validate<T = Record<string, unknown>>(schema: object, data: unknown): asserts data is T {
	if (!this._validator.validate(schema, data)) {
		throw new LiskValidationError(convertErrorsToLegacyFormat(this._validator.errors as LiskErrorObject[]));
	}
}
public validateSchema(schema: object): asserts schema is SchemaObject {
	if (!this._validator.validateSchema(schema)) {
		throw new LiskValidationError(convertErrorsToLegacyFormat(this._validator.errors as LiskErrorObject[]));
	}
}

Motivation

• We should have type guard on the validate function so after this function, type is ensured
• It should not be required to check error length

Additional Information

• All usages needs to be updated