test: use ES6 classes instead of util.inherits

PR-URL: https://github.com/nodejs/node/pull/16938


Reviewed-By: Refael Ackermann <refack@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Gireesh Punathil <gpunathi@in.ibm.com>