If you do not mind accessing properties with a lower-level prefix, repl exports the _builtinLibs array:
$ node -pe "require ('repl') ._ builtinLibs"
['assert',
'buffer',
'child_process',
'cluster',
'crypto',
'dgram',
'dns',
'domain',
'events',
'fs',
'http',
'https',
'net',
'os',
'path',
'punycode',
'querystring',
'readline',
'stream',
'string_decoder',
'tls',
'tty',
'url',
'util',
'v8',
'vm',
'zlib']
This list is not "complete" like the list provided by the builtin-modules module, as it does not include undocumented and similar modules.
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