Improve token rotation error handling and installation error text

[seratch]

This pull request improves the built-in middleware to better handle token rotation errors. Also, I've updated the built-in error text message in the scenario.

Category (place an x in each of the [ ])

• slack_bolt.App and/or its core components
• slack_bolt.async_app.AsyncApp and/or its core components
• Adapters in slack_bolt.adapter
• Document pages under /docs
• Others

Requirements (place an x in each [ ])

Please read the Contributing guidelines and Code of Conduct before creating this issue or pull request. By submitting, you are agreeing to those rules.

• I've read and understood the Contributing Guidelines and have done my best effort to follow them.
• I've read and agree to the Code of Conduct.
• I've run ./scripts/install_all_and_run_tests.sh after making the changes.

[codecov]

Codecov Report

Merging #861 (3b6d3ad) into main (84bb73d) will decrease coverage by 0.23%.
The diff coverage is 48.38%.

❗ Current head 3b6d3ad differs from pull request most recent head 9b2928d. Consider uploading reports for the commit 9b2928d to get more accurate results

@@            Coverage Diff             @@
##             main     #861      +/-   ##
==========================================
- Coverage   92.00%   91.78%   -0.23%     
==========================================
  Files         181      181              
  Lines        6242     6269      +27     
==========================================
+ Hits         5743     5754      +11     
- Misses        499      515      +16     

Impacted Files	Coverage Δ
...dleware/authorization/single_team_authorization.py	85.29% <0.00%> (-8.26%)	⬇️
...e/authorization/async_single_team_authorization.py	85.71% <25.00%> (-8.04%)	⬇️
slack_bolt/authorization/async_authorize.py	82.84% <28.57%> (-2.44%)	⬇️
slack_bolt/authorization/authorize.py	82.53% <28.57%> (-2.47%)	⬇️
...k_bolt/middleware/authorization/async_internals.py	100.00% <100.00%> (ø)
...e/authorization/async_multi_teams_authorization.py	93.02% <100.00%> (+0.52%)	⬆️
slack_bolt/middleware/authorization/internals.py	100.00% <100.00%> (ø)
...dleware/authorization/multi_teams_authorization.py	90.47% <100.00%> (+0.73%)	⬆️

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