npm / cli / #1607

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fix: yes config

`npm exec <pkg>` was failing for packages not available in the local or
global scope due to the default value of the `yes` config having been
changed to `false` during the latest config refactor. That caused
`npm exec` to throw with a `canceled` error message since the current
implementation expects the default value to be falsy but not `false`.

This change reinstates the previous default config value for `yes` and
changes the implementation to throw with a proper error object in order
to get a stack trace when running with `--loglevel=verbose`.

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