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A Typescript implementation of the Discv5 protocol

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As discussed in the [Feb 27, 2024 standup](https://github.com/ChainSafe/lodestar/wiki/Lodestar-Planning-&-Standup-Meetings#february-27-2024-planning-and-standup-meeting), we will be migrating the [enr-app](https://github.com/ChainSafe/enr-app) repository into our discv5 monorepo.

If node disconnect because of connection timeout, it will be removed from connected peers map, but if reconnected, the connected peers map is not restore the node.

If ENR is invalid, add ENR text to error message to be able to debug Also, in `addEnr`, throw on invalid invalid ENR instead of swallowing the error.

**Motivation** - In handleFindNode, we keep adding value to the resulting array then do a `slice()` to make sure the resulting nodes contain 16 items at most, we should `push()`...

**Motivation** - Even through the cost of computing NodeAddressString may not be a lot, it's redundant to keep computing it in the same flow - An example of this is...

- Replaces the `bcrypto` dependency with a combination of `@noble/hashes` and `@noble/secp256k1` (both are audited, modern, JS only ESM modules with no external dependencies) - Removes `bcrypto` types - Adds...

Bumps [undici](https://github.com/nodejs/undici) from 5.15.1 to 5.19.1. Release notes Sourced from undici's releases. v5.19.1 ⚠️ Security Release ⚠️ Regular Expression Denial of Service in Headers with CVE-2023-24807 CRLF Injection in Nodejs...

meta-dependencies

we should have better usage docs for this library cc @holgerd77