Why does return from a module return undefined?

Question

Node.js

Hello.
There is a code:
File1:

function doQuery(sql, array) {
            pool.getConnection(function (err,mysql){
                mysql.query(sql, array, function(err, res){
                    if(err) {
                        return `Error: ${err}`;
                    }
                    else {
                        return res;
                    }
                });
                mysql.release();
            });
}

module.exports = {
    query: doQuery
}

File2:

const db = require('./db-connect.js');

var test = db.query("SELECT * FROM users WHERE id = ?", [32]);
console.log(test);

As a result, undefined is displayed in the console.
Is there any way to fix this without using async function and Promise?
If instead of return to File1 output data to the console, then everything works

Answer 1

Cannot be fixed without using async/promise/ callback