cluster: remove deprecated API

This is an alternative to https://github.com/nodejs/node/pull/13684

• The deprecation code is preserved and the messaging around the reasoning for the deprecation updated.
• The change is split into multiple commits to allow easier backporting of selected changes (see #13704)

Checklist

• make -j4 test (UNIX), or vcbuild test (Windows) passes
• tests and/or benchmarks are included
• documentation is changed or added
• commit message follows commit guidelines

Affected core subsystem(s)

cluster