errors: change ERR_HTTP2_HEADER_SINGLE_VALUE to TypeError

changes the base instance for ERR_HTTP2_HEADER_SINGLE_VALUE
from Error to TypeError as a more accurate representation
of the error. Additionally corrects the grammar of the error
message.

PR-URL: https://github.com/nodejs/node/pull/19805


Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>