Replace usage of Verify functions in 03-connection

[colin-axner]

Summary

Sub-issue of #1145

Pre-requirements:

• Add VerifyMembership/VerifyNonMembership to 07-tendermint #1291
• Add VerifyMembership/VerifyNonMembership to 06-solomachine #1292

Replace usage of:

• VerifyClientState
• VerifyConsensusState
• VerifyConnection
• VerifyChannel
• VerifyPacketCommitment
• VerifyAcknowledgement
• VerifyPacketReceipt
• VerifyPacketReceiptAbsence

with the generic VerifyMembership and VerifyNonMembership functions.

Mostly likely can be done in a single pr, assuming the diffs don't get too large due to some unforseen issue. If there's a change that requires discussion, please split up the pr

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For Admin Use

• Not duplicate issue
• Appropriate labels applied
• Appropriate contributors tagged/assigned