debugger: refactor to use internal modules

This avoids loading the entirety of `node:util` and `node:url` and their
dependencies while only a subset is actually used by this module.

PR-URL: https://github.com/nodejs/node/pull/38550


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Darshan Sen <raisinten@gmail.com>