tls: introduce ERR_TLS_INVALID_CONTEXT

It is trivially possible to cause an internal assertion error with
tls.createSecurePair(). Throw a friendly error instead. Reserve internal
assertions for things that we believe to be impossible.

PR-URL: https://github.com/nodejs/node/pull/30718


Reviewed-By: Sam Roberts <vieuxtech@gmail.com>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: James M Snell <jasnell@gmail.com>