util: better number formatters

This makes sure the `%d`, `%f`, `%i` and `%s` formatters properly
visualize `-0`.
On top, this also switches to using a safer symbol toString function
by using the primordial function.

PR-URL: https://github.com/nodejs/node/pull/27499


Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Rich Trott <rtrott@gmail.com>