Security is a complex matter. And you can never be sure.
Despite the fact that I couldn't find any flows in @RahulVerma answer I'll add my 2 cents...
The link that @RahulVerma posted is official but not a documentation per se. And in the documentation there is nothing about Poison Null Bytes ...strange isn't it.
And that makes you think: maybe, just maybe, when the fs and/or path modules were written authors didn't put enough effort into security considerations, or just missed that. Yes, maybe there are some good reasons for you and not the fs/path to handle the \0. But also wouldn't it be better if everyone was protected from \0 by default? And only for some rear occasions you could explicitly set an option to allow \0 in paths.
So... what am I trying to say is: security is hard even for the best of us, and without proper peer review (currently, less than 100 views on this question do not strike me as a "proper peer review") or, better yet, a history of successful time in production, you should not be satisfied with these answers (my included) saying "It's OK, if you add this or that".
Why don't you use some code that already was tested in battles instead of trying to write a secure code by yourself?
E.g serve-static is used in Express.
(Probably it doesn't meet your needs - it's static after all, but you get the idea)
Even if you don't want another dependency in your project you can at least study and copy from the implementation that proved itself. (But, yes, it doesn't seem different from the @RahulVerma answer)
That said. I'd like to point out that:
If you'd copy the implementation, you can make a mistake while doing so.
Even if your code is safe, consider how safe do you manage your code. Will it be safe tomorrow?
Even well tested libraries and engines can, and often do, have bugs, and fall prey to 0day exploits
Oh! Just found: https://github.com/autovance/ftp-srv/issues/167
It's about the library that was suggested in another question of yours.
So, if you decide (or if you'll be assured) that now you code is surely safe don't stop on that! Add an extra layer of security to it anyway:
restrict the server's access to folders outside of the /www/site.com/public_html/ on an OS level.