Better multistream select errors

Currently, errors that happen inside multistream-select are not very friendly:

Error: unexpected end of input
    at Object.read (file:///usr/app/node_modules/it-length-prefixed-stream/node_modules/it-byte-stream/dist/src/index.js:86:31)
    at process.processTicksAndRejections (node:internal/process/task_queues:105:5)
    at async Object.read (file:///usr/app/node_modules/it-length-prefixed-stream/dist/src/index.js:45:37)
    at async read (file:///usr/app/node_modules/@libp2p/multistream-select/dist/src/multistream.js:22:17)
    at async Module.readString (file:///usr/app/node_modules/@libp2p/multistream-select/dist/src/multistream.js:33:17)
    at async Module.select (file:///usr/app/node_modules/@libp2p/multistream-select/dist/src/select.js:72:20)
    at async ConnectionImpl.newStream [as _newStream] (file:///usr/app/node_modules/libp2p/dist/src/upgrader.js:331:50)
    at async ConnectionImpl.newStream (file:///usr/app/node_modules/libp2p/dist/src/connection/index.js:94:24)
    at async file:///usr/app/packages/reqresp/lib/request/index.js:57:26
    at async withTimeout (file:///usr/app/packages/utils/lib/timeout.js:15:16)

It may be nice to throw some error like: "Multistream-select protocol negotiation failed" or something like that.
Iirc, there's also an existing ProtocolNegotiationError that can be thrown (and that can be handled by consumers)

Start by tracing multistream-select through the multistream.js read path and select.js entry point shown in the stack trace. Inspect the existing ProtocolNegotiationError and determine how negotiation failures should be surfaced to consumers. Done means failures expose a friendly, handleable protocol-negotiation error instead of the underlying low-level error.