### Describe the bug

TL;DR: if you supply custom DNS `lookup` in 1.6+ and it fails with `ENOTFOUND`, `axios` throws `TypeError: address must be a string` instead

I supply custom DNS `lookup` to precisely control the timeout. I am using https://github.com/szmarczak/cacheable-lookup. It works correctly in axios before 1.6 but fails after because of this change:

![image](https://github.com/axios/axios/assets/498673/50a0e6ba-7fe0-4b03-b5c9-6b05d7b4cfa1)

When the callback returns the `err` as the first argument, the other two can be (and are) `undefined`. Axios 1.6+ attempts to resolve `family` and `address` regardless of `err` and trips over `undefined`.

Take a look:

![image](https://github.com/axios/axios/assets/498673/5ee84a2e-361b-4bd0-a589-85d81fe9208e)


### To Reproduce

Perform axios request against a domain that does not exists with a custom `lookup`. DNS `lookup` fails with `ENOTFOUND` but `axios` then fails with `TypeError: address must be a string`

### Code snippet

```js
// simplified test:


import CacheableLookup from 'cacheable-lookup';
import axios from 'axios';

const dns = new CacheableLookup({ resolver: new Resolver({ timeout: 200 }), maxTtl: 60 * 60, lookup: false });
const controller = new AbortController();

await axios.post('https://no-such-domain-987654.com', {}, {
  signal: controller.signal,
  lookup: dns.lookup.bind(dns),
});
```

### Expected behavior

`axios` should fail with the DNS `lookup` error, not the `TypeError`

### Axios Version

1.6+

### Adapter Version

_No response_

### Browser

_No response_

### Browser Version

_No response_

### Node.js Version

_No response_

### OS

_No response_

### Additional Library Versions

_No response_

### Additional context/Screenshots

_No response_
lib/adapters/http.js
socket.setKeepAlive(true, 1000 * 60);
    });
    
    if (config.timeout) {
      
      const timeout = parseInt(config.timeout, 10);
      if (Number.isNaN(timeout)) {
        reject(new AxiosError(
          'error trying to parse `config.timeout` to int',
          AxiosError.ERR_BAD_OPTION_VALUE,
          config,
          req
        ));
        return;
      }
      
      
      
      
      
      req.setTimeout(timeout, function handleRequestTimeout() {
        if (isDone) return;
        let timeoutErrorMessage = config.timeout ? 'timeout of ' + config.timeout + 'ms exceeded' : 'timeout exceeded';
        const transitional = config.transitional || transitionalDefaults;
        if (config.timeoutErrorMessage) {
          timeoutErrorMessage = config.timeoutErrorMessage;
        }
        reject(new AxiosError(
          timeoutErrorMessage,
          transitional.clarifyTimeoutError ? AxiosError.ETIMEDOUT : AxiosError.ECONNABORTED,