feat: support esm modules [EXT-5853] (#736)

* feat: support esm modules [EXT-5853]

* feat: support esm modules

* feat: switch build to tsup to support cjs + esm

* fix: back to dynamic require

* fix: tsup handles interop

* fix: wrapper around jsonwebtoken to support cjs and esm

* fix: infer type rather than any

* fix: remove unused build scripts