What's the problem this PR addresses?

Node.js supports require(esm) now so we can avoid throwing an error if support is enabled.

Fixes #6336
Ref nodejs/citgm#1086

How did you fix it?

Avoid throwing ERR_REQUIRE_ESM if process.features.require_module is truthy.

Checklist

• I have read the Contributing Guide.
• I have set the packages that need to be released for my changes to be effective.
• I will check that all automated PR checks pass before the PR gets reviewed.