feat!: better support for ESM imports

[porcellus]

Summary of change

• Adds export mapping to make ESM imports more comfortable.
• Adds test (added to CI as well) to ensure all files are importable.

Related issues

• Original impl: https://github.com/supertokens/supertokens-node/pull/824

Test Plan

Added a new test file that is run during CI.

Documentation changes

N/A

Checklist for important updates

• [x] Changelog has been updated
• [x] coreDriverInterfaceSupported.json file has been updated (if needed)
  • Along with the associated array in lib/ts/version.ts
• [x] frontendDriverInterfaceSupported.json file has been updated (if needed)
• [x] Changes to the version if needed
  • In package.json
  • In package-lock.json
  • In lib/ts/version.ts
• [x] Had run npm run build-pretty
• [x] Had installed and ran the pre-commit hook
• [ ] If new thirdparty provider is added,
  • [ ] update switch statement in recipe/thirdparty/providers/configUtils.ts file, createProvider function.
  • [ ] add an icon on the user management dashboard.
• [ ] Issue this PR against the latest non released version branch.
  • To know which one it is, run find the latest released tag (git tag) in the format vX.Y.Z, and then find the latest branch (git branch --all) whose X.Y is greater than the latest released tag.
  • If no such branch exists, then create one from the latest released branch.
• [ ] If have added a new web framework, update the add-ts-no-check.js file to include that
• [ ] If added a new recipe / api interface, then make sure that the implementation of it uses NON arrow functions only (like someFunc: function () {..}).
• [ ] If added a new recipe, then make sure to expose it inside the recipe folder present in the root of this repo. We also need to expose its types.

[rishabhpoddar]

@porcellus there is already a 19.0 branch, which @sattvikc is working on, so this can go in that and be released as part of that release.