assert: reduce internal usage of public require of util

PR-URL: #26750
Reviewed-By: Yongsheng Zhang <[email protected]>
Reviewed-By: Ruben Bridgewater <[email protected]>
Reviewed-By: James M Snell <[email protected]>

Author: toshi1127

lib/internal/assert/assertion_error.js

@@ -1,6 +1,6 @@
 'use strict';
 
-const { inspect } = require('util');
+const { inspect } = require('internal/util/inspect');
 const { codes: {
   ERR_INVALID_ARG_TYPE
 } } = require('internal/errors');