Output ESM for all packages

[Murderlon]

Now that we make the required Node.js version >=20.19.0 (#723), which is the specific release that stabilized require(esm), we might as well output ESM as it makes no difference anymore. We keep the same level of compatibility.

Notable changes:

• Set "type": "module" in all package.json's.
• Set "module": "NodeNext" in tsconfig.base.json (done in Bump required Node.js version from 16 to 20 #723, which this branch is based off).
• Because of that option we have have to explicitly import .js extensions which is the majority of this diff.

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Latest commit: 37c235c

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