domain: re-implement domain over async_hook

Domain core module has been re-implemented over async_hook.

PR-URL: https://github.com/nodejs/node/pull/16222


Reviewed-By: Andreas Madsen <amwebdk@gmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>