http,https,tls: switch to WHATWG URL parser

This switches the url parser from `url.parse()` to the WHATWG URL
parser while keeping `url.parse()` as fallback.

Also add tests for invalid url deprecations and correct hostname
checks.

PR-URL: https://github.com/nodejs/node/pull/20270
Fixes: https://github.com/nodejs/node/issues/19468
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Tiancheng "Timothy" Gu <timothygu99@gmail.com>
Reviewed-By: Daijiro Wachi <daijiro.wachi@gmail.com>
Reviewed-By: Trivikram Kamat <trivikr.dev@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>

test/parallel/test-internal-errors.js

@@ -148,11 +148,6 @@ assert.strictEqual(
   'Cannot render headers after they are sent to the client'
 );
 
-assert.strictEqual(
-  errors.message('ERR_INVALID_DOMAIN_NAME'),
-  'Unable to determine the domain name'
-);
-
 assert.strictEqual(
   errors.message('ERR_INVALID_HTTP_TOKEN', ['Method', 'foo']),
   'Method must be a valid HTTP token ["foo"]'