Feat: Update universe domain exception error code/message

[PhongChuong]

This PR updates the universe domain except error code/message to be consistent with the error message used in GAPIC. Specifically, with the error code 401 and the message "The configured universe domain (googleapis.com) does not match the universe domain found in the credentials (foo.com). If you haven't configured the universe domain explicitly, googleapis.com is the default."

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Fixes #3112