#### Describe the bug
The irrelevant error returned when requesting illegal URL, like: "tel:484-695-3408"
```
TypeError: Cannot read property 'replace' of null
    at dispatchHttpRequest (node_modules/axios/lib/adapters/http.js:109:74)
    at new Promise (<anonymous>)
    at httpAdapter (node_modules/axios/lib/adapters/http.js:46:10)
    at dispatchRequest (node_modules/axios/lib/core/dispatchRequest.js:52:10)
```

#### To Reproduce
```js
axios.get('tel:484-695-3408').catch(err => console.error(err));
```

#### Expected behavior
Return descriptive error, like "Unsupported protocol tel:"

#### Environment
 - Axios Version: 0.21.1
 - Adapter: HTTP
 - Browser: none
 - Browser Version: none
 - Node.js Version: 12.19.0
 - OS: MacOS 10.14
 - Additional Library Versions: none

#### Additional context/Screenshots
none
lib/utils.js
if (typeof navigator !== 'undefined' && (navigator.product === 'ReactNative' ||
                                           navigator.product === 'NativeScript' ||
                                           navigator.product === 'NS')) {
    return false;
  }
  return (
    typeof window !== 'undefined' &&
    typeof document !== 'undefined'
  );
}
/**
 * Iterate over an Array or an Object invoking a function for each item.
 *
 * If `obj` is an Array callback will be called passing
 * the value, index, and complete array for each item.
 *
 * If 'obj' is an Object callback will be called passing
 * the value, key, and complete object for each property.
 *
 * @param {Object|Array} obj The object to iterate
 * @param {Function} fn The callback to invoke for each item
 */
function forEach(obj, fn) {