Move to ESM-only + Libauth v2

[rkalis]

• Remove CJS build process
• Move other code to ESM only
• Use jest instead of ts-jest for testing + compile before testing
• Allow PathLike as input for compileFile
• Add script to hack the antlr output to be ESM compatible
• Update Libauth dependency to v2
• Remove IntrospectionOp enum in favour of updated Libauth opcodes
• Remove Bitbox from devDependencies + examples (replace with Libauth)
• Update all examples to ESM
• Update docs to use ESM
• Update docs with some things that should have been updated earlier
• Update release & migration notes
• Small other changes