http: destroy the socket on parse error

Destroy the socket if the `'clientError'` event is emitted and there is
no listener for it.

Fixes: https://github.com/nodejs/node/issues/24586

PR-URL: https://github.com/nodejs/node/pull/24757


Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>