test: remove deprecated ts-jest globals config

[trivikr]

Issue

Noticed while working on #6038

Description

Removes deprecated ts-jest globals config

Testing

Before

ts-jest emits warning

$ aws-restjson-server> yarn test
...
ts-jest[ts-jest-transformer] (WARN) Define `ts-jest` config under `globals` is deprecated. Please do
transform: {
    <transform_regex>: ['ts-jest', { /* ts-jest config goes here in Jest */ }],
},
..
Ran all test suites.
Done in 13.89s.

After

ts-jest does not emit warning

$ aws-restjson-server> yarn test
...
Ran all test suites.
Done in 14.20s.

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