timers: Migrate to use internal/errors

PR-URL: https://github.com/nodejs/node/pull/14659


Reviewed-By: Refael Ackermann <refack@gmail.com>
Reviewed-By: Jeremiah Senkpiel <fishrock123@rocketmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Sakthipriyan Vairamani <thechargingvolcano@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>