util: use `[Array]` for deeply nested arrays

Prefer `[Array]` over `[Object]` because the latter is confusing.

PR-URL: https://github.com/nodejs/node/pull/12046


Reviewed-By: Evan Lucas <evanlucas@me.com>
Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Jeremiah Senkpiel <fishrock123@rocketmail.com>