doc: rewrite consensus seeking in guide

Rewrite the Consensus Seeking section of the Collaborators Guide for
easier reading, more clarity, shorter sentences, less passive voice,
etc.

PR-URL: https://github.com/nodejs/node/pull/23349


Reviewed-By: Sakthipriyan Vairamani <thechargingvolcano@gmail.com>
Reviewed-By: Vse Mozhet Byt <vsemozhetbyt@gmail.com>
Reviewed-By: Trivikram Kamat <trivikr.dev@gmail.com>
Reviewed-By: Franziska Hinkelmann <franziska.hinkelmann@gmail.com>