util: treat format arguments equally

Two changes here which bring us closer to the console standard:

- Arguments to `util.format` are no longer formatted differently
  depending on their order, with format strings being an exception.
- Format specifier formatting is now only triggered if the string
  actually contains a format string.

Under the hood, we now use a single shared function to format the given
arguments which will make the code easier to read and modify.

PR-URL: https://github.com/nodejs/node/pull/23162
Fixes: https://github.com/nodejs/node/issues/23137


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Refael Ackermann <refack@gmail.com>