feat: version checks

[pd93]

• feat: version checks
• refactor: consistent naming for errors
• feat: update schema to accept semver strings

Task's current version checking is a bit out of date and unused. It's a lot of work for us to maintain a list of features and which schema versions they work in, but it's quite trivial to let a user specify a minimum version of task as their schema version and then error if the version of the binary is lower.

This PR extends the existing TaskfileVersionNotDefined error (exit code 107) and renames it to the more generic TaskfileVersionCheckError. This error is then used whenever we come across a problem with schema/binary versions. In this PR, this happens in 3 places:

1. When reading a Taskfile, if the version key is not provided:

task: Missing schema version in Taskfile "/path/to/Taskfile.yml"

2. In doVersionChecks, if the version key is less than v3:

task: Invalid schema version in Taskfile "/path/to/Taskfile.yml":
Schema version (2.0.0) no longer supported. Please use v3 or above

3. In doVersionChecks, if the version key is greater than the installed version of Task

task: Invalid schema version in Taskfile "/path/to/Taskfile.yml":
Schema version (4.0.0) is greater than the current version of Task (3.33.0)

[andreynering]

🎉