module: remove usage of require('util')

Use `require('internal/util/debuglog').debuglog` instead of
`require('util').debuglog` in `lib/internal/modules/esm/module_map.js`.

Refs: https://github.com/nodejs/node/issues/26546

PR-URL: https://github.com/nodejs/node/pull/26805


Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Yongsheng Zhang <zyszys98@gmail.com>