build: check minimum ICU in configure for system-icu

- check the version number coming out of pkg-config

PR-URL: https://github.com/nodejs/node/pull/24255
Fixes: https://github.com/nodejs/node/issues/24253


Reviewed-By: Gus Caplan <me@gus.host>
Reviewed-By: Refael Ackermann <refack@gmail.com>
Reviewed-By: Ben Noordhuis <info@bnoordhuis.nl>
Reviewed-By: James M Snell <jasnell@gmail.com>