build: runtime-deprecate requiring deps

PR-URL: https://github.com/nodejs/node/pull/16392
Fixes: https://github.com/nodejs/node/pull/15566#discussion_r146111170


Reviewed-By: Refael Ackermann <refack@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Ben Noordhuis <info@bnoordhuis.nl>