Replace `mkdirp` with `fs.mkdirSync(path, { recursive: true })`

### Is your feature request related to a problem? Please describe.

The `mkdirp` utility is used in db-migrate https://github.com/search?q=repo%3Adb-migrate%2Fnode-db-migrate%20mkdirp&type=code

It can be replaced with Node.js native fs.mkdirSync added `recursive` option in Node.js [v10.12.0](https://github.com/nodejs/node/releases/tag/v10.12.0) published on Oct 10, 2018.

### Describe the solution you'd like
Replace `mkdirp` with `fs.mkdirSync(path, { recursive: true })`

### Additional context
The `mkdirp` currently uses these native APIs:
* https://github.com/isaacs/node-mkdirp/blob/fdf6005432c2506ce31f8cae237039dda2f8479d/src/opts-arg.ts#L4-L8
* https://github.com/isaacs/node-mkdirp/blob/fdf6005432c2506ce31f8cae237039dda2f8479d/src/mkdirp-native.ts#L13-L19