module: improve error for invalid package targets

For targets that are strings that do not start with `./` or `/` the
error will now have additional information about what the programming
error is.

Closes: https://github.com/nodejs/node/issues/32034

PR-URL: https://github.com/nodejs/node/pull/32052
Fixes: https://github.com/nodejs/node/issues/32034


Reviewed-By: Geoffrey Booth <webmaster@geoffreybooth.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Jan Krems <jan.krems@gmail.com>
Reviewed-By: Guy Bedford <guybedford@gmail.com>
Signed-off-by: Myles Borins <myles.borins@gmail.com>