doc: revise COLLABORATOR_GUIDE.md

Simplify text/content.

PR-URL: https://github.com/nodejs/node/pull/23990


Reviewed-By: Ben Noordhuis <info@bnoordhuis.nl>
Reviewed-By: Richard Lau <riclau@uk.ibm.com>
Reviewed-By: Trivikram Kamat <trivikr.dev@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Vse Mozhet Byt <vsemozhetbyt@gmail.com>
Reviewed-By: Michael Dawson <michael_dawson@ca.ibm.com>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>