APIs should return error details

[tbnguyen1407]

Describe the feature

Currently only a status code is returned for invalid input. Actual error can only be seen in logs.

## request
PATCH /v3/config/global/patch
{
    "invalid": "field"
}

## response
Status: 400 Bad Request
Body: empty

2023/10/17 16:51:07 ERR [API] json: unknown field "invalid"

HTTP API should return error details in response body, e.g:

{
    "error": "json: unknown field: invalid"
}

[aler9]

this has been implemented with #2583

[aler9]

added in v1.2.1

[github-actions]

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