Re-setup docs generation from code

[milindl]

This got way too big for my liking but jsdoc needed many, many things to work. There is no (reasonable) way to make the import() statement work so errors relating to that are just filtered out.

It's split into 3 commits

1. Makefile and config setup.
2. Changes to code files to make jsdoc run without error. This is the biggest part but it should be okay because it's mostly just restructuring the comments. There are very minor code changes to facilitate some documentation (Object.freeze moved later, etc).
3. Add docs pipeline to semaphore so no future code changes break it.

[confluent-cla-assistant]

🎉 All Contributor License Agreements have been signed. Ready to merge.
_{Please push an empty commit if you would like to re-run the checks to verify CLA status for all contributors.}

[emasab]

LGTM for documentation generation, pending review of the docstrings