lib, test: fix server.listen error message

Previously the error messages are mostly `[object Object]`
after the options get normalized. Use util.inspect to make
it more useful.

Refactor the listen option test, add precise
error message validation and a few more test cases.

PR-URL: https://github.com/nodejs/node/pull/11693


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Franziska Hinkelmann <franziska.hinkelmann@gmail.com>