stream: do not use crypto.DEFAULT_ENCODING in lazy_transform.js

The default encoding can be retrieved via
`require('internal/crypto/util').getDefaultEncoding` instead of
the deprecated crypto.DEFAULT_ENCODING which triggers a warning.

Background:

The require chain goes like this:

```
internal/streams/lazy_transform.js
  -> crypto.js
  -> internal/crypto/cipher.js (uses LazyTransform in the global scope)
  -> internal/streams/lazy_transform.js
```

So when `internal/streams/lazy_transform.js` is required before
`lib/crypto.js`, we have a circular dependency and since
`internal/crypto/cipher.js` uses destructuring to use LazyTransform
we will get an error. And it can also trigger a warning if
lazy_transform.js is the first file that touches
crypto.DEFAULT_ENCODING.

PR-URL: https://github.com/nodejs/node/pull/24396
Reviewed-By: Refael Ackermann <refack@gmail.com>
Reviewed-By: Sam Roberts <vieuxtech@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Tiancheng "Timothy" Gu <timothygu99@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>

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