lib: consolidate redundant require() calls

PR-URL: https://github.com/nodejs/node/pull/21699


Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Minwoo Jung <minwoo@nodesource.com>
Reviewed-By: Gus Caplan <me@gus.host>
Reviewed-By: Jon Moss <me@jonathanmoss.me>