test: make test-querystring-escape engine agnostic

Do not check the error message if it is generated by the JavaScript
engine (V8, ChakraCore, etc.). Do confirm that it is a `TypeError`.

PR-URL: https://github.com/nodejs/node/pull/16272


Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Refael Ackermann <refack@gmail.com>
Reviewed-By: Yuta Hiroto <hello@about-hiroppy.com>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Benjamin Gruenbaum <benjamingr@gmail.com>
Reviewed-By: Tobias Nießen <tniessen@tnie.de>