esm: improve error message of ERR_UNSUPPORTED_ESM_URL_SCHEME
Refs: https://github.com/nodejs/node/issues/34765
Checklist
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make -j4 test
(UNIX), orvcbuild test
(Windows) passes -
tests and/or benchmarks are included -
documentation is changed or added -
commit message follows commit guidelines
/cc @nodejs/modules-active-members