errors: update all internal errors

This updates all internal errors to the new error type. While doing
so it removes unused errors.

A few errors currently seem to have the wrong type. To identify them
later, comments were added next to the error type.

PR-URL: https://github.com/nodejs/node/pull/18857
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Gus Caplan <me@gus.host>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>

test/parallel/test-internal-errors.js

@@ -305,19 +305,6 @@ assert.strictEqual(
   errors.message('ERR_ENCODING_NOT_SUPPORTED', ['enc']),
   'The "enc" encoding is not supported');
 
-// Test ERR_HTTP2_HEADER_REQUIRED
-assert.strictEqual(
-  errors.message('ERR_HTTP2_HEADER_REQUIRED', ['test']),
-  'The test header is required');
-
-// Test ERR_HTTP2_FRAME_ERROR
-assert.strictEqual(
-  errors.message('ERR_HTTP2_FRAME_ERROR', ['foo', 'bar', 'baz']),
-  'Error sending frame type foo for stream baz with code bar');
-assert.strictEqual(
-  errors.message('ERR_HTTP2_FRAME_ERROR', ['foo', 'bar']),
-  'Error sending frame type foo with code bar');
-
 // Test error messages for async_hooks
 assert.strictEqual(
   errors.message('ERR_ASYNC_CALLBACK', ['init']),