lib: replace 'assert' with 'internal/assert' for many built-ins

Replace large 'assert' module with tiny 'internal/assert' module for
many built-in uses.

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


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