doc, tools: add doc linting to CI

PR-URL: https://github.com/nodejs/node/pull/12640
Fixes: https://github.com/nodejs/node/issues/12635
Refs: https://github.com/nodejs/node/pull/12563


Reviewed-By: Teddy Katz <teddy.katz@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Michael Dawson <michael_dawson@ca.ibm.com>
Reviewed-By: Gibson Fahnestock <gibfahn@gmail.com>