util: escape C1 control characters and switch to hex format
C1 control characters will from now on also be escaped to prevent altering the terminal behavior.
This also switches '\u00XX' to '\xXX' as suggested by @dd-pardal. The reason for me to switch is that it uses less characters.
Fixes: https://github.com/nodejs/node/issues/29450
Checklist
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make -j4 test
(UNIX), orvcbuild test
(Windows) passes -
tests and/or benchmarks are included -
documentation is changed or added -
commit message follows commit guidelines