errors: remove usage of require('util')

Remove internal usage of `require('util').inspect`.

PR-URL: https://github.com/nodejs/node/pull/26781
Refs: https://github.com/nodejs/node/issues/26546


Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Daniel Bevenius <daniel.bevenius@gmail.com>