Implement `errorTree` for HybridNonlinearFactorGraph #3159

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Job	Run time
macos-12-xcode-14.2 Debug	14m 54s
macos-12-xcode-14.2 Release	18m 7s
macos-14-xcode-15.4 Debug	15m 39s
macos-14-xcode-15.4 Release	10m 31s
	59m 11s