test: refactor test-cluster-setup-master

- use mustCall instead of counters
- include totalWorkers and settings in the error messages

PR-URL: https://github.com/nodejs/node/pull/16065


Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>
Reviewed-By: Yuta Hiroto <hello@about-hiroppy.com>