errors: validate input arguments

This makes sure the input arguments get validated so implementation
errors will be caught early. It also improves a couple of error
messages by providing more detailed information and fixes errors
detected by the new functionality. Besides that a error type got
simplified and tests got refactored.

PR-URL: https://github.com/nodejs/node/pull/19924


Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>