assert: use destructuring for errors

Destructure the necessary Error classes from internal/errors.
This improves the readability of the error creation.

Backport-PR-URL: https://github.com/nodejs/node/pull/19230
PR-URL: https://github.com/nodejs/node/pull/18247


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