src: use custom fprintf alike to write errors to stderr

This allows printing errors that contain nul characters, for example.

Fixes: https://github.com/nodejs/node/issues/28761
Fixes: https://github.com/nodejs/node/issues/31218

PR-URL: https://github.com/nodejs/node/pull/31446


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Gus Caplan <me@gus.host>
Reviewed-By: Ben Noordhuis <info@bnoordhuis.nl>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>