Improve error for invalid URLs

[Dante-dan]

Environment

nitropack: 1.0.0 nuxt3: 1.0.0 node: node18

Reproduction

nuxt3

pnpm build

pnpm preview

Describe the bug

invalid url will cause 500 error, because new URL() . It shoud be catch exception and throw not match 404.

sample URl : http://localhost:3000/.%AE/WEB-INF/esp_ldap_context.property

https://github.com/unjs/nitro/blob/8e06f2e4a65c6de0d2f2f3a5ef156ae3821ed60a/src/runtime/static.ts#L18~L22

// runtime/static.ts
  let id = decodeURIComponent(
    withLeadingSlash(
      withoutTrailingSlash(parseURL(event.node.req.url).pathname)
    )
  );

// [nuxt] [request error] [unhandled] [500] URI malformed

Additional context

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Logs

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