As i searched deeper the best alternative is to override the methods on DefaultErrorStrategy and build the message the way you want.
You can set an error Handler to your parser, it should be your new custom error strategy.
typescript DefaultErrorStrategy
Here is my override for reportInputMismatch method with custom translation:
reportInputMismatch(recognizer: Parser, e: InputMismatchException): void {
const expected = e.expectedTokens;
const expectedString = expected ? this.getFriendlyExpectedTokens(expected, recognizer.vocabulary) : '';
const input = this.getTokenErrorDisplay(e.getOffendingToken(recognizer));
const msg = `entrada ${input} não compatível, espera-se ${expectedString}`;
this.notifyErrorListeners(recognizer, msg, e);
}