fix(*): throw Error objects to help with debugging

[aduh95]

Since #990, we really have no reason not to throw genuine Error objects.

[codecov]

Codecov Report

❌ Patch coverage is 83.33333% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 80.56%. Comparing base (5034b4f) to head (b6bdada).
⚠️ Report is 11 commits behind head on main.

Files with missing lines	Patch %	Lines
lib/auth.js	83.33%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1045      +/-   ##
==========================================
- Coverage   80.93%   80.56%   -0.38%     
==========================================
  Files          39       39              
  Lines        4841     4846       +5     
==========================================
- Hits         3918     3904      -14     
- Misses        923      942      +19     

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[aduh95]

Ping @nodejs/node-core-utils for reviews