tools: update to mdast-util-to-hast v3.0.2

See https://github.com/syntax-tree/mdast-util-to-hast/pull/21

Note: I updated all of the tools/doc dependencies, not just this one,
and removed the previous workaround that was in place until this change
landed.

PR-URL: https://github.com/nodejs/node/pull/22140


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>