assert: use object argument in innerFail

Right now it is difficult to know what argument stands for what
property. By refactoring the arguments into a object it is clear
what stands for what.

PR-URL: https://github.com/nodejs/node/pull/17582


Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Jon Moss <me@jonathanmoss.me>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Anatoli Papirovski <apapirovski@mac.com>