lib: port errors to new system

This is a first batch of updates that touches non-underscored modules in
lib.

PR-URL: https://github.com/nodejs/node/pull/19034


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>