lib: reduce usage of require('util')

Replace `require('util').inspect` and `require('util').format` with
`require('util/internal/inspect').inspect` and
`require('util/internal/inspect').format` in `lib/internal/errors.js`.

PR-URL: https://github.com/nodejs/node/pull/26782
Refs: https://github.com/nodejs/node/issues/26546


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