doc: add URL.format() example

Backport-PR-URL: https://github.com/nodejs/node/pull/22380
PR-URL: https://github.com/nodejs/node/pull/18888
Fixes: https://github.com/nodejs/node/issues/18887


Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Vse Mozhet Byt <vsemozhetbyt@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Roman Reiss <me@silverwind.io>
Reviewed-By: Daijiro Wachi <daijiro.wachi@gmail.com>
Reviewed-By: Tobias Nießen <tniessen@tnie.de>