feat: migrate Veramo from CommonJS to ESM

[nickreynolds]

What is being changed

• All Veramo packages now produce ESM instead of CommonJS. This is determined by type: "module" in each package's package.json file.
• The majority of changes in this PR relate to how packages are imported and exported. When referencing local files within a Veramo package, the .js file extension must be specified. Plugin Schemas (plugin.schema.json) are now located within a package's src' folder and exported in package's package.json exports` field
• minimum node version is now 16.x
• docsconfig.json changed to docsconfig.js
• jest code coverage now uses coverageReporter v8 (support for import assertions)
• importing json or other non-[js/ts] files requires import assertions
• jest must be imported, cannot be accessed as a global
• test-react-app ejected from Create React App to upgrade to ESM (modifications needed to webpack, build/start/test scripts)

Quality

Check all that apply:

• [X] I want these changes to be integrated
• [X] I successfully ran yarn, yarn build, yarn test, yarn test:browser locally.
• [X] I allow my PR to be updated by the reviewers (to speed up the review process).
• [ ] I added unit tests.
• [ ] I added integration tests.
• [X] I did not add automated tests because this PR simply refactors to ESM and does not add any new functionality

[codecov[bot]]

Codecov Report

Merging #1004 (b9391ef) into next (7b6d195) will increase coverage by 3.15%. The diff coverage is 67.95%.

Additional details and impacted files

@@            Coverage Diff             @@
##             next    #1004      +/-   ##
==========================================
+ Coverage   80.57%   83.73%   +3.15%     
==========================================
  Files         118      131      +13     
  Lines        4140    12932    +8792     
  Branches      919     1223     +304     
==========================================
+ Hits         3336    10828    +7492     
- Misses        801     2104    +1303     
+ Partials        3        0       -3     

[nickreynolds]

closed in favor of #1103