fix: Reverts back to ES6 and CommonJS for better Node compatibility

Description

Switches tsconflg back to using ES6 and CommonJS output, and includes tslib as a dependency to satisfy the generated JS output.

Motivation and Context

During the upgrade we switched to ES2020, which caused an issue with some of the latest releases. This pushes us back to ES6 and CommonJS output. This then caused depcheck to complain about tslib missing from various modules, so added that as a dependency.

Testing Details

Example Output or Screenshots (if appropriate)

Types of changes

[x] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to change)

Checklist

[x] My code follows the code style of this project.
[ ] My change requires a change to the documentation.
[ ] I have updated the documentation accordingly.
[x] I have read the CONTRIBUTING document.
[ ] I have added tests to cover my changes.
[x] All new and existing tests passed.

Vonage / vonage-node-sdk

fix: Reverts back to ES6 and CommonJS for better Node compatibility #777