lib,test: enforce use of `assert.fail` via a lint rule

[aduh95]

assert.fail communicates the intent better than assert(false) IMO

[codecov[bot]]

Codecov Report

:white_check_mark: All modified and coverable lines are covered by tests. :white_check_mark: Project coverage is 88.55%. Comparing base (029ebac) to head (79df8b2). :warning: Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #61004      +/-   ##
==========================================
+ Coverage   88.51%   88.55%   +0.03%     
==========================================
  Files         703      703              
  Lines      208522   208522              
  Branches    40212    40219       +7     
==========================================
+ Hits       184564   184647      +83     
+ Misses      15957    15905      -52     
+ Partials     8001     7970      -31     

Files with missing lines	Coverage Δ
lib/internal/crypto/cipher.js	97.94% <100.00%> (ø)

... and 35 files with indirect coverage changes

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[nodejs-github-bot]

CI: https://ci.nodejs.org/job/node-test-pull-request/70448/

[nodejs-github-bot]

CI: https://ci.nodejs.org/job/node-test-pull-request/70460/

[nodejs-github-bot]

CI: https://ci.nodejs.org/job/node-test-pull-request/70462/

[aduh95]

Landed in 79df8b209b00fd1d4e5343fa036e5c1eb80f43e1