assert: refactor to reduce unecessary code paths

The lazy loading is not needed as the errors themself lazy
load assert. Therefore the circle is working as intended
even without this lazy loading.

Improve Array, object, ArrayBuffer, Set and Map performance
in all deepEqual checks by removing unecessary code paths and
by moving expensive checks further back.

Improve throws and doesNotThrow performance by removing dead
code and simplifying the overall logic.

PR-URL: nodejs#13973
Reviewed-By: Refael Ackermann <[email protected]>
Reviewed-By: Benjamin Gruenbaum <[email protected]>
Reviewed-By: Joyee Cheung <[email protected]>