fix(types): return T from Serialize when it extends undefined

[DamianGlowala]

🔗 Linked issue

resolves #1762
resolves nuxt/nuxt#26411

❓ Type of change

• 📖 Documentation (updates to the documentation, readme, or JSdoc annotations)
• 🐞 Bug fix (a non-breaking change that fixes an issue)
• 👌 Enhancement (improving an existing functionality like performance)
• ✨ New feature (a non-breaking change that adds functionality)
• 🧹 Chore (updates to the build process or auxiliary tools and libraries)
• ⚠️ Breaking change (fix or feature that would cause existing functionality to change)

📚 Description

Currently, Serialize<undefined> resolves to never (matching T extends NonJsonPrimitive). This PR returns T from Serialize when it extends undefined.

📝 Checklist

• I have linked an issue or discussion.
• I have updated the documentation accordingly.

[pi0]

Thanks!