util: change util.inspect depth default

The current default is not ideal in most use cases. Therefore it is
changed to inspect objects to a maximum depth of 20 in case
util.inspect is called with it's defaults. The default is kept at 2
when using console.log() and similar in the repl.

PR-URL: https://github.com/nodejs/node/pull/17907
Refs: https://github.com/nodejs/node/issues/12693

PR-URL: https://github.com/nodejs/node/pull/22846


Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Denys Otrishko <shishugi@gmail.com>
Reviewed-By: Roman Reiss <me@silverwind.io>