fix: improve streamable HTTP session reinitialization (#459)

Implements the MCP spec guidelines for streamable HTTP (re)initialization:
- Server MAY terminate session and MUST respond with HTTP 404 for terminated session IDs
- Client MUST start new session when receiving HTTP 404 for requests with session ID

Changes:
- Replace generic McpError with McpTransportException for transport-layer errors
- Only throw McpTransportSessionNotFoundException when session ID is present in request
  (per spec: 404 with session ID means session terminated, without means general error)
- Enhance error messages with more context (status codes, response events)
- Use RuntimeException for non-transport specific SSE endpoint failures
- Ensure consistent error handling across HTTP client transports

- Improve error handling with standard Java exceptions.
  Replace generic McpError with appropriate standard exceptions:
  - Use IllegalArgumentException for invalid input parameters
  - Use IllegalStateException for state-related issues
  - Use RuntimeException wrapper for initialization failures
  - Use McpError.builder() with proper error codes for protocol errors

Fixes #459

Signed-off-by: Christian Tzolov <christian.tzolov@broadcom.com>