domain: fix error emit handling

Fix an issue where error is never emitted on the original EventEmitter
in situations where a listener for error does exist.

Refactor to eliminate unnecessary try/catch/finally block.

PR-URL: https://github.com/nodejs/node/pull/17588
Refs: https://github.com/nodejs/node/pull/17403


Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: James M Snell <jasnell@gmail.com>