[mlir][Interfaces] Simplify and improve errors of `RegionBranchOpInterface` verifier (#174805)
Simplify the `RegionBranchOpInterface` verifier by utilizing new API
functions such as `getAllRegionBranchPoints`.
Also improve the error message by using the same terms that are used in
the interface definition: `region branch point`, `region successor`,
`successor operand`, `successor input`.