build: migrate to ES Modules

[AlCalzone]

This PR is based on #3005 and makes node-zwave-js ready for ES Modules. The primary build output is now ESM, which is down-compiled to CommonJS in a postbuild step.

Blocked by:

• TypeScript support - without it, node needs to be run with --es-module-specifier-resolution=node
• Probably Jest support: Support ESM versions of all pluggable modules jestjs/jest#11167, jest.mock does not mock an ES module without Babel jestjs/jest#10025
• ESM support in downstream libraries (or we need to rewrite the imports)
  • Support ESM jprichardson/node-fs-extra#746
• Replace moment and moment-timezone #2865

[zwave-js-assistant]

🚧 It seems like this PR has lint errors 🚧

I should be able to fix them for you. If you want me to, just comment
@zwave-js-bot fix lint

[zwave-js-assistant]

🚧 It seems like this PR has lint errors 🚧

I should be able to fix them for you. If you want me to, just comment
@zwave-js-bot fix lint