assert: reduce internal usage of public require of util

PR-URL: #26762
Refs: #26546
Reviewed-By: Yongsheng Zhang <zyszys98@gmail.com>
Reviewed-By: Masashi Hirano <shisama07@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>

lib/assert.js

@@ -29,7 +29,8 @@ const { codes: {
 } } = require('internal/errors');
 const AssertionError = require('internal/assert/assertion_error');
 const { openSync, closeSync, readSync } = require('fs');
-const { inspect, types: { isPromise, isRegExp } } = require('util');
+const { inspect } = require('internal/util/inspect');
+const { isPromise, isRegExp } = require('internal/util/types');
 const { EOL } = require('internal/constants');
 const { NativeModule } = require('internal/bootstrap/loaders');