types: add generics to H3Error data and createError

[DamianGlowala]

🔗 Linked issue

❓ Type of change

• 📖 Documentation (updates to the documentation, readme, or JSdoc annotations)
• 🐞 Bug fix (a non-breaking change that fixes an issue)
• 👌 Enhancement (improving an existing functionality like performance)
• ✨ New feature (a non-breaking change that adds functionality)
• 🧹 Chore (updates to the build process or auxiliary tools and libraries)
• ⚠️ Breaking change (fix or feature that would cause existing functionality to change)

📚 Description

This PR allows for typed data property of the H3Error class with an optional generic param defaulting to any, which in turn can be used to provide typed data property on the err returned by createError function.

📝 Checklist

• I have linked an issue or discussion.
• I have updated the documentation accordingly.

[codecov]

Codecov Report

Merging #566 (be20212) into main (b7aca96) will increase coverage by 0.00%.
The diff coverage is 80.00%.

@@           Coverage Diff           @@
##             main     #566   +/-   ##
=======================================
  Coverage   83.83%   83.84%           
=======================================
  Files          31       31           
  Lines        3563     3565    +2     
  Branches      543      540    -3     
=======================================
+ Hits         2987     2989    +2     
  Misses        576      576           

Files	Coverage Δ
src/error.ts	80.76% <80.00%> (+0.21%)	⬆️

[pi0]

Thanks!