chore(url-parser-node): use WHATWG URL instead of url.parse

[trivikr]

Issue #, if available:
Resolves: #999

Description of changes:
use WHATWG URL instead of url.parse

• url.parse has been deprecated and it recommends using the WHATWG URL API https://nodejs.org/api/url.html#url_url_parse_urlstring_parsequerystring_slashesdenotehost
• WHATWG URL has been available on Global Object since v10.0.0 https://nodejs.org/api/url.html#url_the_whatwg_url_api

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[codecov-io]

Codecov Report

Merging #1766 (440c622) into master (de75f7e) will increase coverage by 0.05%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #1766      +/-   ##
==========================================
+ Coverage   79.77%   79.83%   +0.05%     
==========================================
  Files         325      336      +11     
  Lines       12087    12620     +533     
  Branches     2553     2679     +126     
==========================================
+ Hits         9643    10075     +432     
- Misses       2444     2545     +101     

Impacted Files	Coverage Δ
...tocol_tests/aws-restxml/commands/XmlMapsCommand.ts	95.65% <0.00%> (-4.35%)	⬇️
...ocol_tests/aws-restxml/commands/XmlBlobsCommand.ts	95.65% <0.00%> (-4.35%)	⬇️
...ocol_tests/aws-restxml/commands/XmlEnumsCommand.ts	95.65% <0.00%> (-4.35%)	⬇️
...ocol_tests/aws-restxml/commands/XmlListsCommand.ts	95.65% <0.00%> (-4.35%)	⬇️
...col_tests/aws-restjson/commands/JsonMapsCommand.ts	95.65% <0.00%> (-4.35%)	⬇️
...ol_tests/aws-restjson/commands/JsonBlobsCommand.ts	95.65% <0.00%> (-4.35%)	⬇️
...ol_tests/aws-restjson/commands/JsonEnumsCommand.ts	95.65% <0.00%> (-4.35%)	⬇️
...ol_tests/aws-restjson/commands/JsonListsCommand.ts	95.65% <0.00%> (-4.35%)	⬇️
...tests/aws-restxml/commands/XmlAttributesCommand.ts	95.65% <0.00%> (-4.35%)	⬇️
...tests/aws-restxml/commands/XmlNamespacesCommand.ts	95.65% <0.00%> (-4.35%)	⬇️
... and 137 more

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[AllanZhengYP]

This is the change I'd like to do!

[github-actions]

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