doc: streamline errors.md introductory material

PR-URL: https://github.com/nodejs/node/pull/21138


Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: Trivikram Kamat <trivikr.dev@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Vse Mozhet Byt <vsemozhetbyt@gmail.com>