tls: migrate argument type-checking errors

* Throw ERR_INVALID_ARG_TYPE from public APIs
* Assert argument types in bindings instead of throwing errors

PR-URL: https://github.com/nodejs/node/pull/18125


Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Fedor Indutny <fedor.indutny@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>