Rewrite our javascript helpers to use ESM

[jeffwidman]

Some of our dependencies in the /npm_and_yarn/helpers are moving to only using ESM. And based on what I read in https://formidable.com/blog/2021/node-esm-and-exports/, this will likely become more common over time.

So we'll need to rewrite our javascript helpers to use ESM in order to update these deps.

At first glance, this is probably a good change, but a fair bit of busy work.

See also #4125 (comment)

[jeffwidman]

I spent an hour and a half coming up to speed on ESM vs CommonJS this evening... There's definitely some controversy in the node community(!), but the migration path didn't look too horrible. Here was one of the better migration checklists.

That said, there may be some unexpected blockers that we run into, for example Jest doesn't fully support ESM.

Happy to accept a PR if someone wants to take a crack at it.

[github-actions]

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