lib: always show ERR_INVALID_ARG_TYPE received part

This makes a effort to make sure all of these errors will actually
also show the received input.
On top of that it refactors a few tests for better maintainability.
It will also change the returned type to always be a simple typeof
instead of special handling null.

PR-URL: https://github.com/nodejs/node/pull/19445


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>