Port the CLI debugger to use the v8 inspector protocol #7266

Now that we have the v8_inspector available in Node, it would be good to create port of the CLI debugger that uses the new inspector protocol. This would have a few benefits:

• It would make it easier to unit test inspector debug functionality for Node. UI based tests are not going to be easy to automate in the Node.js test infrastructure.
• The CLI debugger could start taking advantage of the newer features available through the v8 inspector protocol.
• We can stop depending on the deprecated V8 debug apis that the old protocol uses.
• Over the long term we would like to converge back to a single debug server implementation and protocol. This would be a semver-major, so this shouldn't be done immediately, but maybe v8.x is a good target for this part?

Contributions to make this happen would be most welcome.

/cc @pavelfeldman @thealphanerd @nodejs/diagnostics