lib: lazy load `v8` in error-serdes

Lazy loading v8 in lib/internal/error-serdes.js reduces the number of loaded modules by the bootstrap code for Worker threads by seven.

Refs: https://github.com/nodejs/node/pull/26501#discussion_r264849750

Checklist

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