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Stop copying the error middleware on requests that do not fail (#3016)

Grape::Middleware::Error is in every endpoint's stack, and Base#call
copied it for every request so that #call! could keep the env in an
ivar. Only rendering an error reads it there. The middleware now
answers from the one instance the stack built and takes a copy, holding
the request's env, only once there is an error to render. #call! still
answers a request when called directly.

Its options are read off ivars set in #initialize instead of through
Forwardable delegators into config, as Formatter and Versioner::Base
already do: rendering an error asks for most of them, and each paid a
Forwardable frame plus a Data reader for a value fixed at build time.
The ivars only pay off together with the first change, since a
per-request copy has to carry each of them.

A subclass overriding #call! is no longer called per request; UPGRADING
says to override #call instead.

Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>

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