module: support require()ing synchronous ESM graphs

This patch adds `require()` support for synchronous ESM graphs under
the flag `--experimental-require-module`

This is based on the the following design aspect of ESM:

- The resolution can be synchronous (up to the host)
- The evaluation of a synchronous graph (without top-level await) is
  also synchronous, and, by the time the module graph is instantiated
  (before evaluation starts), this is is already known.

If `--experimental-require-module` is enabled, and the ECMAScript
module being loaded by `require()` meets the following requirements:

- Explicitly marked as an ES module with a `"type": "module"` field in
  the closest package.json or a `.mjs` extension.
- Fully synchronous (contains no top-level `await`).

`require()` will load the requested module as an ES Module, and return
the module name space object. In this case it is similar to dynamic
`import()` but is run synchronously and returns the name space object
directly.

```mjs
// point.mjs
export function distance(a, b) {
  return (b.x - a.x) ** 2 + (b.y - a.y) ** 2;
}
class Point {
  constructor(x, y) { this.x = x; this.y = y; }
}
export default Point;
```

```cjs
const required = require('./point.mjs');
// [Module: null prototype] {
//   default: [class Point],
//   distance: [Function: distance]
// }
console.log(required);

(async () => {
  const imported = await import('./point.mjs');
  console.log(imported === required);  // true
})();
```

If the module being `require()`'d contains top-level `await`, or the
module graph it `import`s contains top-level `await`,
[`ERR_REQUIRE_ASYNC_MODULE`][] will be thrown. In this case, users
should load the asynchronous module using `import()`.

If `--experimental-print-required-tla` is enabled, instead of throwing
`ERR_REQUIRE_ASYNC_MODULE` before evaluation, Node.js will evaluate the
module, try to locate the top-level awaits, and print their location to
help users fix them.

PR-URL: https://github.com/nodejs/node/pull/51977
Reviewed-By: Chengzhong Wu <legendecas@gmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Guy Bedford <guybedford@gmail.com>
Reviewed-By: Antoine du Hamel <duhamelantoine1995@gmail.com>
Reviewed-By: Geoffrey Booth <webadmin@geoffreybooth.com>

doc/api/errors.md

@@ -2487,6 +2487,19 @@ Accessing `Object.prototype.__proto__` has been forbidden using
 [`Object.setPrototypeOf`][] should be used to get and set the prototype of an
 object.
 
+<a id="ERR_REQUIRE_ASYNC_MODULE"></a>
+
+### `ERR_REQUIRE_ASYNC_MODULE`
+
+> Stability: 1 - Experimental
+
+When trying to `require()` a [ES Module][] under `--experimental-require-module`,
+the module turns out to be asynchronous. That is, it contains top-level await.
+
+To see where the top-level await is, use
+`--experimental-print-required-tla` (this would execute the modules
+before looking for the top-level awaits).
+
 <a id="ERR_REQUIRE_ESM"></a>
 
 ### `ERR_REQUIRE_ESM`
@@ -2495,6 +2508,9 @@ object.
 
 An attempt was made to `require()` an [ES Module][].
 
+To enable `require()` for synchronous module graphs (without
+top-level `await`), use `--experimental-require-module`.
+
 <a id="ERR_SCRIPT_EXECUTION_INTERRUPTED"></a>
 
 ### `ERR_SCRIPT_EXECUTION_INTERRUPTED`