Errors thrown by middlewares do not get captured or reported

Describe the bug
If an unexpected error is thrown inside of a middleware, the error is completely ignored and not logged to any output stream or file. This makes errors impossible to debug without adding breakpoints into the dependency. This is obviously bad practice for a production system as rare errors will all get swept under the rug.

See here:
https://github.com/socketio/socket.io/blob/7427109658591e7ce677a183a664d1f5327f37ea/packages/engine.io/lib/server.ts#L772

To Reproduce

Please fill the following code example:

Socket.IO server version: 4.8.x

Server

import { Server } from "socket.io";

const io = new Server(3000, {});
io.engine.use((req, res, next) => {
    if (!req.session?.hasSocketAccess) {
        return next(new Error("You do not have access"));
    }
    next();
});

io.on("connection", (socket) => {
  console.log(`connect ${socket.id}`);

  socket.on("disconnect", () => {
    console.log(`disconnect ${socket.id}`);
  });
});

Socket.IO client version: 4.8.x

Client

import { io } from "socket.io-client";

const socket = io("ws://localhost:3000/", {});

socket.on("connect", () => {
  console.log(`connect ${socket.id}`);
});

socket.on("disconnect", () => {
  console.log("disconnect");
});

Expected behavior
When the error is thrown in the middleware, it is able to be logged in some manner. Given that the current behavior tries to respond to the open HTTP connection and throws (yet another) error "Cannot set headers after they are sent to the client", I think socket.io needs to support being provided an error logger and if not provided, automatically log such errors to console.error.

Platform:

• Device: Irrelevant.
• OS: Irrelevant.

Additional context
I would have made a PR to resolve this, but I'm sure the current maintainers would have a preferred implementation for satisfying this need. The underlying "Cannot set headers after they are sent" error is probably an artifact of the implementation here, which might be resolved anyway by adding this logging support. I'm not totally sure what the intention is for that specific method, so I'll leave that up to the maintainers.

Start at packages/engine.io/lib/server.ts around line 772 and trace how middleware-thrown errors are handled and how the HTTP response is attempted. Determine how errors should be surfaced, including the proposed logger or console.error fallback, and verify that unexpected middleware errors are reported without producing the secondary headers error.