test: use assert regexp in tls no cert test

Replace the `assert.throws` second argument from a Type to a `RegExp`
matching the entire error message.
Error message changes are `semver-major`, so we assert their content.

PR-URL: nodejs#12891
Refs: nodejs#12603
Reviewed-By: Refael Ackermann <refack@gmail.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: David Cai <davidcai1993@yahoo.com>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: Sakthipriyan Vairamani <thechargingvolcano@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>

test/parallel/test-tls-no-cert-required.js

@@ -41,7 +41,8 @@ tls.createServer(assert.fail)
 tls.createServer({})
   .listen(0, common.mustCall(close));
 
-assert.throws(() => tls.createServer('this is not valid'), TypeError);
+assert.throws(() => tls.createServer('this is not valid'),
+              /^TypeError: options must be an object$/);
 
 tls.createServer()
   .listen(0, common.mustCall(close));