readline,repl: add substring based history search

This improves the current history search feature by adding substring
based history search similar to ZSH. In case the `UP` or `DOWN`
buttons are pressed after writing a few characters, the start string
up to the current cursor is used to search the history.

All other history features work exactly as they used to.

PR-URL: https://github.com/nodejs/node/pull/31112
Fixes: https://github.com/nodejs/node/issues/28437


Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>