skip QUERY tests for Node 21 only, still not supported (#5695)

* skip QUERY tests for Node 21 only, still not supported

QUERY support has now landed in Node 22.2.0, but is still not supported
in 21.7.3

QUERY showed up in http.METHODS in 21.7.2. Only Node versions after that
will attempt to run tests for it, based on the way we dynamically test
members of the http.METHODS array from Node

* update CI to run on 21.7 and 22.2