[srp-server] add more error tracing logs (#7582)
[srp-server] add more error tracing logs (#7582)

This commit add more error tracing logs to help identify where a
SRP service registration fails. The log format is also updated to
capitalize the first char to align with rest of the codebase.
openthread/openthread,jwhui/openthread,abtink/openthread,abtink/openthread,openthread/openthread,openthread/openthread,srickardti/openthread,jwhui/openthread,openthread/openthread,srickardti/openthread,jwhui/openthread,jwhui/openthread,abtink/openthread,srickardti/openthread,abtink/openthread,srickardti/openthread