test: add useful info to error msg and refactor

Add useful info about process.domain to error meesages in the
uncaughtException event listener and the beforeExit event listener.

Refactor code such as using template literals, and also make sure
uncaughtException listner is detached after firing once to avoid
endless loop in case of exception throw in the beforeExit event
listner.

PR-URL: https://github.com/nodejs/node/pull/18541


Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: James M Snell <jasnell@gmail.com>