feat: add support for WHATWG URLs

[DesignByOnyx]

This closes #2435

I could not find a beta or next branch, so my changes were made against main. Please advise if I am missing something.

[mastermatt]

I'm in favor of this.
@DesignByOnyx the tests are failing because lack of coverage for the Unrecognized URL error path.

I think I would also prefer if the invalid protocol TypeError was thrown from inside of normalizeUrl instead of the Scope constructor.

[DesignByOnyx]

@mastermatt - I have made the updates you requested. Thanks for the quick review.

A quick note on the change I made:

I got rid of the Unrecognized URL error. Instead, users can pass a legacy url object (url.parse(...)) or anything that the URL constructor supports (strings and URL instances as of this writing). If a user passes an invalid URL, I am letting the URL parser report the error.

[DesignByOnyx]

Apologies, I had some trailing whitespace in there. I thought I had run the formatter. Should be good to go.

[gr2m]

Nice

[github-actions]

🎉 This PR is included in version 13.3.0 🎉

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