errors: make input mandatory

Using ERR_INVALID_ARG_TYPE will now require the received value as
well. This makes sure the errors are always expressive. It also
drops support for using an array as name argument.

PR-URL: https://github.com/nodejs/node/pull/19445


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>