enhance: make the auth error message more suitable

[SimFG]

/issue: #32252
/kind improvement

[mergify]

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[SimFG]

/run-cpu-e2e

[SimFG]

rerun ut

[mergify]

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[codecov]

Codecov Report

Attention: Patch coverage is 88.88889% with 1 lines in your changes are missing coverage. Please review.

Project coverage is 81.70%. Comparing base (ab6ddf6) to head (dce583f).
Report is 27 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff            @@
##           master   #32253    +/-   ##
========================================
  Coverage   81.69%   81.70%            
========================================
  Files         997      999     +2     
  Lines      123431   123903   +472     
========================================
+ Hits       100839   101233   +394     
- Misses      18727    18799    +72     
- Partials     3865     3871     +6     

Files	Coverage Δ
internal/proxy/authentication_interceptor.go	95.91% <100.00%> (ø)
internal/proxy/privilege_interceptor.go	75.00% <100.00%> (ø)
pkg/util/constant.go	93.33% <ø> (ø)
pkg/util/contextutil/context_util.go	76.47% <80.00%> (ø)

... and 30 files with indirect coverage changes

[SimFG]

/run-cpu-e2e

[mergify]

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[SimFG]

/run-cpu-e2e

[czs007]

/approve
/lgtm

[sre-ci-robot]

[APPROVALNOTIFIER] This PR is APPROVED

This pull-request has been approved by: czs007, SimFG

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