util: escape C1 control characters and switch to hex format

C1 control characters will from now on also be escaped to prevent
altering the terminal behavior.

Fixes: https://github.com/nodejs/node/issues/29450

PR-URL: https://github.com/nodejs/node/pull/29826


Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Michaël Zasso <targos@protonmail.com>