url: remove usage of require('util')

PR-URL: https://github.com/nodejs/node/pull/26808
Refs: https://github.com/nodejs/node/issues/26546


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Yongsheng Zhang <zyszys98@gmail.com>