feat!(esm): provide esm outputs and continue to support cjs

[rxmarbles]

What kind of change does this PR introduce?

• [ ] Bug Fix
• [x] Feature
• [ ] Refactoring
• [ ] Style
• [ ] Build
• [ ] Chore
• [ ] Documentation
• [ ] CI

Did you add tests for your changes?

• [x] Yes, my code is well tested
• [ ] Not relevant

If relevant, did you update the documentation?

• [x] Yes, I've updated the documentation
• [ ] Not relevant

Summary Explain the motivation for making this change. What existing problem does the pull request solve? Try to link to an open issue for more information.

This PR is a major breaking change just due to the engines field being updated to support latest Node. However this also includes the ESM imports and continues to support those who need CJS

Does this PR introduce a breaking change? If this PR introduces a breaking change, please describe the impact and a migration path for existing applications.

Included in summary above

Other information