Migrate to ESM

[matthiasrohmer]

Follow-up to https://github.com/ampproject/amp.dev/pull/5650.

p-queue is one of the first packages to deprecate usage via require but enforces using packages to migrate to Node.js-native module syntax as per https://gist.github.com/sindresorhus/a39789f98801d908bbc7ff3ecc99d99c.

At a glance this seems like a daunting task for amp.dev but I fear there will soon be more packages to follow this decision. The question is how do we want to approach this?

/cc @sebastianbenz @patrickkettner @lluerich