util: use minimal object inspection with %s specifier

This improves `util.format()` by returning more meaningful results
when using `%s` as specifier and any object as value. Besides that
`BigInt` will also be represented with an `n` at the end to indicate
that it's of type `BigInt`.

PR-URL: https://github.com/nodejs/node/pull/26927


Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Yongsheng Zhang <zyszys98@gmail.com>