errors: simplify ERR_REQUIRE_ESM message generation

Because of the condition that starts the `if` block, we know that
`parentPath` must be truthy. So there is no need to check for that in
the template string that generates the error message.

PR-URL: #35123
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Juan José Arboleda <soyjuanarbol@gmail.com>
Reviewed-By: Guy Bedford <guybedford@gmail.com>

lib/internal/errors.js

@@ -1317,7 +1317,7 @@ E('ERR_REQUIRE_ESM',
         filename : path.basename(filename);
       msg +=
         '\nrequire() of ES modules is not supported.\nrequire() of ' +
-        `${filename} ${parentPath ? `from ${parentPath} ` : ''}` +
+        `${filename} from ${parentPath} ` +
         'is an ES module file as it is a .js file whose nearest parent ' +
         'package.json contains "type": "module" which defines all .js ' +
         'files in that package scope as ES modules.\nInstead rename ' +