lib: add parent to ERR_UNKNOWN_FILE_EXTENSION

- default_resolve updated to pass parentURL into error
- ERR_UNKNOWN_FILE_EXTENSION updated to include parentURL
- test added to check for import message in error

PR-URL: https://github.com/nodejs/node/pull/30728
Fixes: https://github.com/nodejs/node/issues/30721


Reviewed-By: Guy Bedford <guybedford@gmail.com>
Reviewed-By: Trivikram Kamat <trivikr.dev@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>