### Describe the bug

https://github.com/developer-choi/axios-error-report

TypeError is occurred (in 1.6.6 version)

<img width="184" alt="image" src="https://github.com/axios/axios/assets/51902362/1f7f6e7f-8c8b-4ef7-9854-5c08f572d58b">

<img width="171" alt="image" src="https://github.com/axios/axios/assets/51902362/36042439-a071-485e-b696-9f2c01849759">

### To Reproduce

https://github.com/developer-choi/axios-error-report

### Code snippet

_No response_

### Expected behavior

_No response_

### Axios Version

1.6.6

### Adapter Version

_No response_

### Browser

CHROME

### Browser Version

120.0.6099.225

### Node.js Version

20.11.0

### OS

Window 11
lib/core/Axios.js
if (typeof configOrUrl === 'string') {
      config = config || {};
      config.url = configOrUrl;
    } else {
      config = configOrUrl || {};
    }
    config = mergeConfig(this.defaults, config);
    const {transitional, paramsSerializer, headers} = config;
    if (transitional !== undefined) {
      validator.assertOptions(transitional, {
        silentJSONParsing: validators.transitional(validators.boolean),
        forcedJSONParsing: validators.transitional(validators.boolean),
        clarifyTimeoutError: validators.transitional(validators.boolean)
      }, false);
    }
    if (paramsSerializer != null) {
      if (utils.isFunction(paramsSerializer)) {
        config.paramsSerializer = {
          serialize: paramsSerializer
        }
      } else {
        validator.assertOptions(paramsSerializer, {
          encode: validators.function,