doc: revert anachronistic 'node:' module require()s in API history notes

Support for the 'node:' prefixed builtin module namespace was introduced
for `require()` expressions in Node v16.0.0, and backported to v14.18.0.
This was never supported in Node v15.x or chronologically older.

All of the current API history notes in the docs using 'node:' prefixed
module `require()`s happen to be documenting changes in Node versions
from before the time when support was first introduced.

This commit reverts those `require()`s in the history notes to be
un-prefixed. (They were incorrect as written; The prefixed `require()`s
would not work for those older Node versions.)

This change prevents the API history notes from inaccurately implying
'node:' prefixed builtin modules were introduced many Node versions ago,
or were `require()`-able with the 'node:' prefix in those Node versions.

Refs: #35387
Refs: #37246
Refs: #42752

PR-URL: #43768
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Darshan Sen <raisinten@gmail.com>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>

doc/api/dns.md

@@ -832,7 +832,7 @@ added: v10.6.0
 changes:
   - version: v15.0.0
     pr-url: https://github.com/nodejs/node/pull/32953
-    description: Exposed as `require('node:dns/promises')`.
+    description: Exposed as `require('dns/promises')`.
   - version:
     - v11.14.0
     - v10.17.0

doc/api/fs.md

@@ -128,15 +128,15 @@ added: v10.0.0
 changes:
   - version: v14.0.0
     pr-url: https://github.com/nodejs/node/pull/31553
-    description: Exposed as `require('node:fs/promises')`.
+    description: Exposed as `require('fs/promises')`.
   - version:
     - v11.14.0
     - v10.17.0
     pr-url: https://github.com/nodejs/node/pull/26581
     description: This API is no longer experimental.
   - version: v10.1.0
     pr-url: https://github.com/nodejs/node/pull/20504
-    description: The API is accessible via `require('node:fs').promises` only.
+    description: The API is accessible via `require('fs').promises` only.
 -->
 
 The `fs/promises` API provides asynchronous file system methods that return

doc/api/path.md

@@ -447,7 +447,7 @@ added: v0.11.15
 changes:
   - version: v15.3.0
     pr-url: https://github.com/nodejs/node/pull/34962
-    description: Exposed as `require('node:path/posix')`.
+    description: Exposed as `require('path/posix')`.
 -->
 
 * {Object}
@@ -592,7 +592,7 @@ added: v0.11.15
 changes:
   - version: v15.3.0
     pr-url: https://github.com/nodejs/node/pull/34962
-    description: Exposed as `require('node:path/win32')`.
+    description: Exposed as `require('path/win32')`.
 -->
 
 * {Object}

doc/api/util.md

@@ -1477,7 +1477,7 @@ added: v10.0.0
 changes:
   - version: v15.3.0
     pr-url: https://github.com/nodejs/node/pull/34055
-    description: Exposed as `require('node:util/types')`.
+    description: Exposed as `require('util/types')`.
 -->
 
 `util.types` provides type checks for different kinds of built-in objects.