assert: improve loose assertion message

So far the error message from a loose assertion is not always very
informative and could be misleading. This is fixed by:

* showing more from the actual error message
* having a better error description
* not using custom inspection
* inspecting a higher depth
* inspecting the full array instead of up to 100 entries

PR-URL: https://github.com/nodejs/node/pull/22155


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>