Remove direct `qs` dependency

[lukaselmer]

• As suggested here: https://github.com/expressjs/express/discussions/5783#discussioncomment-14224233
• See also #6647, #5723, #6374, #3230, #3272, https://github.com/expressjs/express/pulls?q=is%3Apr+qs+is%3Aclosed
• This doesn't remove qs from body-parser

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