module: remove usage of require('util')

Use `require('internal/util/debuglog').debuglog` instead of
`require('util').debuglog` in `lib/internal/modules/esm/module_map.js`.

Refs: #26546

PR-URL: #26805
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Yongsheng Zhang <zyszys98@gmail.com>

lib/internal/modules/esm/module_map.js

@@ -4,7 +4,7 @@ const ModuleJob = require('internal/modules/esm/module_job');
 const {
   SafeMap
 } = primordials;
-const debug = require('util').debuglog('esm');
+const debug = require('internal/util/debuglog').debuglog('esm');
 const { ERR_INVALID_ARG_TYPE } = require('internal/errors').codes;
 const { validateString } = require('internal/validators');