feat!: convert to esm only

[wemeetagain]

• Upgrade libp2p dependencies
  • Includes updating the libp2p peer discovery layer
• Use ESM only
• Lint test files

Migration help:

For consuming projects, there are two options:

1. If you upgrade your library to use ESM, you can import discv5 using import ... from ... syntax.
   eg:

// using es modules
import { Discv5 } from "@chainsafe/discv5";

// use `Discv5`

3. If your project is using commonjs imports, you will need to use await import syntax to import discv5.
   eg:

// using commonjs

const { Discv5 } = await import("@chainsafe/discv5")

// use `Discv5`

[dapplion]

Overall looks good to me!

[dapplion]

LGTM