[utils] fix clang-tidy false alarm in VerifyOrExit (#11500)

Previously, the `VerifyOrExit()` macro's condition caused clang-tidy to
issue issue false positives regarding "boolean readability," suggesting
simplifications via De Morgan's Theorem. This occurred because the macro
wrapped the entire condition and then checked its negative.

This commit refactors the macro to evaluate the condition directly, which:

1. Eliminates the erroneous clang-tidy warnings.
2. Potentially enhances CPU branch prediction performance, as the
   condition is more likely to evaluate to true.

src/include/common/code_utils.hpp

@@ -109,14 +109,17 @@
  * @param[in]  aCondition  A Boolean expression to be evaluated.
  * @param[in]  aAction     An optional expression or block to execute when the assertion fails.
  */
-#define VerifyOrExit(...)                 \
-    do                                    \
-    {                                     \
-        if (!(OT_FIRST_ARG(__VA_ARGS__))) \
-        {                                 \
-            OT_SECOND_ARG(__VA_ARGS__);   \
-            goto exit;                    \
-        }                                 \
+#define VerifyOrExit(...)               \
+    do                                  \
+    {                                   \
+        if (OT_FIRST_ARG(__VA_ARGS__))  \
+        {                               \
+        }                               \
+        else                            \
+        {                               \
+            OT_SECOND_ARG(__VA_ARGS__); \
+            goto exit;                  \
+        }                               \
     } while (false)
 
 /**