worker: improve error (de)serialization

Rather than passing errors using some sort of string representation,
do a best effort for faithful serialization/deserialization of
uncaught exception objects.

PR-URL: https://github.com/nodejs/node/pull/20876


Reviewed-By: Gireesh Punathil <gpunathi@in.ibm.com>
Reviewed-By: Benjamin Gruenbaum <benjamingr@gmail.com>
Reviewed-By: Shingo Inoue <leko.noor@gmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Tiancheng "Timothy" Gu <timothygu99@gmail.com>
Reviewed-By: John-David Dalton <john.david.dalton@gmail.com>
Reviewed-By: Gus Caplan <me@gus.host>