src: use JS inheritance for `AsyncWrap`

For all classes descending from `AsyncWrap`, use JS inheritance
instead of manually adding methods to the individual classes.

This allows cleanup of some code around transferring handles
over IPC.

PR-URL: https://github.com/nodejs/node/pull/23094


Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>
Reviewed-By: Daniel Bevenius <daniel.bevenius@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>