Standardize the PSA -> Mbed TLS error translation across Mbed TLS modules

[AndrzejKurek]

When working on #6141 (comment), an idea emerged to have a single helper function to translate errors from the PSA format to Mbed TLS format, module-aware.
The new function would accept the module origin as a parameter and would first handle module-specific cases, and if the error doesn't match, a general translation of module-agnostic errors that are uniform, no matter the caller origin would occur.

The work to be done in this issue is as follows:

• Determine whether such function is possible to be created and mantained;
• Determine whether it is worth creating such function - won't it uncontrollably grow? Does it really present added value by having some shared errors across modules, or do the areas not overlap?
• Create such function and remove other, module-specific ones.