drop support for Node.js versions 16, 21

[legobeat]

• Remove support for EoL Node.js versions 16, 21
• Align version of @types/node
• ci: Update default Node version from v16 to v18
• ci: Only run lint on default Node version
  • ci: Bump @actions/setup-node to v4
• ci: Run on Node.js v22

Related

Blocked by

• [ ] https://github.com/MetaMask/eth-json-rpc-infura/pull/109
• [ ] https://github.com/MetaMask/eth-sig-util/pull/390