Implement `errorTree` in `DiscreteFactor` #3157

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Job	Run time
macos-12-xcode-14.2 Debug	19m 13s
macos-12-xcode-14.2 Release	15m 58s
macos-14-xcode-15.4 Debug	11m 52s
macos-14-xcode-15.4 Release	11m 14s
	58m 17s