assert: create internal/assert micro-module

For use in built-in modules that could benefit from `assert()` without
having to load the entire module (unless an AssertionError actually
occurs): lib/internal/assert.js.

PR-URL: https://github.com/nodejs/node/pull/25956


Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Minwoo Jung <minwoo@nodesource.com>