http: improve parser error messages

Include the library-provided reason in the Error’s `message`.

Fixes: https://github.com/nodejs/node/issues/28468

PR-URL: https://github.com/nodejs/node/pull/28487
Reviewed-By: Anto Aravinth <anto.aravinth.cse@gmail.com>
Reviewed-By: Daniel Bevenius <daniel.bevenius@gmail.com>
Reviewed-By: Fedor Indutny <fedor.indutny@gmail.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Trivikram Kamat <trivikr.dev@gmail.com>

test/parallel/test-http-header-overflow.js

@@ -19,7 +19,7 @@ const server = createServer();
 server.on('connection', mustCall((socket) => {
   socket.on('error', expectsError({
     type: Error,
-    message: 'Parse Error',
+    message: 'Parse Error: Header overflow',
     code: 'HPE_HEADER_OVERFLOW',
     bytesParsed: maxHeaderSize + PAYLOAD_GET.length,
     rawPacket: Buffer.from(PAYLOAD)