tools: replace custom assert.fail lint rule

Replace custom lint rule for `assert.fail()` function signature errors
with a restricted-syntax rule.

PR-URL: https://github.com/nodejs/node/pull/12287


Reviewed-By: Teddy Katz <teddy.katz@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Gibson Fahnestock <gibfahn@gmail.com>
Reviewed-By: Yuta Hiroto <hello@about-hiroppy.com>
Reviewed-By: James M Snell <jasnell@gmail.com>