fix: only evaluate dynamic revert reasons in reverting branch (#4046)

### Description

Optimize non-reverting branch gas usage caused by building dynamic
revert reason strings

### Testing

Unit Tests

.changeset/real-guests-search.md

@@ -0,0 +1,5 @@
+---
+"@hyperlane-xyz/core": patch
+---
+
+fix: only evaluate dynamic revert reasons in reverting branch

solidity/contracts/client/Router.sol

@@ -153,8 +153,10 @@ abstract contract Router is MailboxClient, IMessageRecipient {
         uint32 _domain
     ) internal view returns (bytes32) {
         (bool contained, bytes32 _router) = _routers.tryGet(_domain);
-        require(contained, _domainNotFoundError(_domain));
-        return _router;
+        if (contained) {
+            return _router;
+        }
+        revert(_domainNotFoundError(_domain));
     }
 
     function _domainNotFoundError(

solidity/contracts/hooks/igp/InterchainGasPaymaster.sol

@@ -228,14 +228,14 @@ contract InterchainGasPaymaster is
         IGasOracle _gasOracle = destinationGasConfigs[_destinationDomain]
             .gasOracle;
 
-        require(
-            address(_gasOracle) != address(0),
-            string.concat(
-                "Configured IGP doesn't support domain ",
-                Strings.toString(_destinationDomain)
-            )
-        );
-
+        if (address(_gasOracle) == address(0)) {
+            revert(
+                string.concat(
+                    "Configured IGP doesn't support domain ",
+                    Strings.toString(_destinationDomain)
+                )
+            );
+        }
         return _gasOracle.getExchangeRateAndGasPrice(_destinationDomain);
     }
 

solidity/contracts/hooks/routing/DomainRoutingHook.sol

@@ -90,12 +90,13 @@ contract DomainRoutingHook is AbstractPostDispatchHook, MailboxClient {
         bytes calldata message
     ) internal view virtual returns (IPostDispatchHook hook) {
         hook = hooks[message.destination()];
-        require(
-            address(hook) != address(0),
-            string.concat(
-                "No hook configured for destination: ",
-                message.destination().toString()
-            )
-        );
+        if (address(hook) == address(0)) {
+            revert(
+                string.concat(
+                    "No hook configured for destination: ",
+                    message.destination().toString()
+                )
+            );
+        }
     }
 }

solidity/contracts/isms/routing/DomainRoutingIsm.sol

@@ -85,8 +85,10 @@ contract DomainRoutingIsm is AbstractRoutingIsm, OwnableUpgradeable {
         uint32 origin
     ) public view virtual returns (IInterchainSecurityModule) {
         (bool contained, bytes32 _module) = _modules.tryGet(origin);
-        require(contained, _originNotFoundError(origin));
-        return IInterchainSecurityModule(_module.bytes32ToAddress());
+        if (contained) {
+            return IInterchainSecurityModule(_module.bytes32ToAddress());
+        }
+        revert(_originNotFoundError(origin));
     }
 
     // ============ Public Functions ============