assert: port common.mustCall() to assert

Fixes: https://github.com/nodejs/node/issues/31392

PR-URL: https://github.com/nodejs/node/pull/31982


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Zeyu Yang <himself65@outlook.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Denys Otrishko <shishugi@gmail.com>