https://nodejs.org/api/util.html#utilinheritsconstructor-superconstructor

Stability: 3 - Legacy: Use ES2015 class syntax and extends keyword instead.

Usage of util.inherits() is discouraged. Please use the ES6 class and extends keywords to get language level inheritance support. Also note that the two styles are semantically incompatible.

I read through the nodejs/node#4179 issue, I think this is a fair fix. It will also remove a dependency. I don't know @kgryte's objections, but I will publish this as a major version change, as going from ES5 to ES6 is breaking.