module: print better message on esm syntax error

Include the offending line in the output and underline the bad token.

Before this commit, it printed "SyntaxError: Unexpected reserved word"
without indicating where the syntax error is.

Now it prints the line and underlines the offending token, like it does
for syntax errors in CJS scripts.

Minor changes are made to the test runner in order to support `*.mjs`
files in test/message.

Fixes: https://github.com/nodejs/node/issues/17277
PR-URL: https://github.com/nodejs/node/pull/17281


Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Evan Lucas <evanlucas@me.com>
Reviewed-By: Michaël Zasso <targos@protonmail.com>