domain: do not import util for a simple type check

This removes `require('util')` from the `domain` module. There was
only a single simple type check used from the `util` module which
is now inlined instead.

PR-URL: https://github.com/nodejs/node/pull/29825


Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Yongsheng Zhang <zyszys98@gmail.com>