worker: remove usage of require('util') in worker_thread.js

PR-URL: https://github.com/nodejs/node/pull/26814
Refs: https://github.com/nodejs/node/issues/26546


Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Masashi Hirano <shisama07@gmail.com>
Reviewed-By: Yongsheng Zhang <zyszys98@gmail.com>