module: remove usage of require('util') in `cjs/loader.js`

Use `require('internal/util').deprecate` instead of
`require('util').deprecate` in `lib/internal/modules/cjs/loader.js`.

PR-URL: https://github.com/nodejs/node/pull/26802
Refs: https://github.com/nodejs/node/issues/26546


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>