feat: deserialize error from header

[srchase]

re-introduces changes from #385

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[codecov-io]

Codecov Report

Merging #390 into smithy-codegen will not change coverage.
The diff coverage is n/a.

@@               Coverage Diff               @@
##           smithy-codegen     #390   +/-   ##
===============================================
  Coverage           96.97%   96.97%           
===============================================
  Files                  69       69           
  Lines                1156     1156           
  Branches              211      211           
===============================================
  Hits                 1121     1121           
  Misses                 35       35

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[AllanZhengYP]

📦 It might be removed when to resolve the merging conflict

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