esm: improve error message of ERR_UNSUPPORTED_ESM_URL_SCHEME

Refs: https://github.com/nodejs/node/issues/34765

PR-URL: https://github.com/nodejs/node/pull/34795


Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Jan Krems <jan.krems@gmail.com>
Reviewed-By: Guy Bedford <guybedford@gmail.com>
Reviewed-By: Bradley Farias <bradley.meck@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Rich Trott <rtrott@gmail.com>