Fix verify_callback in the openssl s_client/s_server app

We need to check that error cert is available before printing its data

Reviewed-by: Tomas Mraz <tomas@openssl.org>
Reviewed-by: David von Oheimb <david.von.oheimb@siemens.com>
Reviewed-by: Viktor Dukhovni <viktor@openssl.org>
Reviewed-by: Hugo Landau <hlandau@openssl.org>
(Merged from https://github.com/openssl/openssl/pull/18805)

(cherry picked from commit fad0f80e)