Improved error message for versions prefixed with v

[Pyr0de]

What does this PR try to resolve?

• Added an error message when version in CRATE[@<VER>] or --version <VER> starts with 'v' for install, add, yank and update --precise <VER>
• Check if version is valid in cargo yank

Fixes #12331

How should we test and review this PR?

Added tests for each subcommand

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[weihanglo]

The change looks nice.

Would you mind following the atomic commit pattern the contributor guide suggests? Which we add a new test first than captures the current behavior, followed by the next commit containing both the fix and test change. That makes the behavior change more prominent.

[weihanglo]

I wonder if there is a way to reuse these logic, but given they are simple it is fine. Thank you!