assert: provide extra context in case of failed error validation checks

Please have a look at the individual commit messages for a detailed description.

I mark this as semver-minor since it adds a wrapper to the actual triggered error and as such it's something new.

// cc @nodejs/assert

Checklist

• make -j4 test (UNIX), or vcbuild test (Windows) passes
• tests and/or benchmarks are included
• documentation is changed or added
• commit message follows commit guidelines