lib: simplify several debug() calls

Avoid calling Array.prototype.join() in debug() calls. These
are evaluated on every call, even if the debug() call is a
no-op. This commit replaces the join() calls with the %j
placeholder.

PR-URL: #25241
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>

lib/internal/http2/core.js

@@ -477,8 +477,8 @@ function onOrigin(origins) {
   const session = this[kOwner];
   if (session.destroyed)
     return;
-  debug(`Http2Session ${sessionName(session[kType])}: origin received: ` +
-        `${origins.join(', ')}`);
+  debug('Http2Session %s: origin received: %j',
+        sessionName(session[kType]), origins);
   session[kUpdateTimer]();
   if (!session.encrypted || session.destroyed)
     return undefined;

lib/internal/modules/esm/create_dynamic_module.js

@@ -6,9 +6,7 @@ const ArrayJoin = Function.call.bind(Array.prototype.join);
 const ArrayMap = Function.call.bind(Array.prototype.map);
 
 const createDynamicModule = (exports, url = '', evaluate) => {
-  debug(
-    `creating ESM facade for ${url} with exports: ${ArrayJoin(exports, ', ')}`
-  );
+  debug('creating ESM facade for %s with exports: %j', url, exports);
   const names = ArrayMap(exports, (name) => `${name}`);
 
   const source = `