util: deprecate util.deprecate()

Deprecate util.deprecate()... there are better userland alternatives and core is using it from internal/util.

/cc @sam-github @nodejs/ctc

Checklist

• make -j4 test (UNIX), or vcbuild test (Windows) passes
• documentation is changed or added
• commit message follows commit guidelines

Affected core subsystem(s)

util, repl, lib, domain