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lib: add JSDoc typings for util

Rodrigo Muino Tomonari requested to merge github/fork/rohit-gohri/jsdoc-util into master

Ref: https://github.com/nodejs/node/pull/38182 Ref: https://twitter.com/bradleymeck/status/1380643627211354115

Added JSDoc typings to lib/util. Most of the typings are pretty simple and direct, all the isThing methods have been typed using type predicates.

callbackify is a bit complex, for this I used the new Leading Rest elements in tuple types to infer types.

Before:

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After:

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There are still some errors with checkJs enabled that I'm not sure how to fix since we are mutating the original type:

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