chore: migrate to yarn v3

[dbjorge]

Details

Migrates the repo's package manager from yarn v1 to yarn v3 (in non-zero-installs configuration)

Some of this was mechanical based on Yarn's migration guide. Beyond the steps there, this PR:

• Updates assorted CI pipelines/workflows and dev docs to adapt to minor syntax updates
• Updates CI workflow's caching strategy to use actions/setup-node@v3's built-in support for yarn berry friendly caching instead of implementing our own with actions/cache@v3
• Updates license-check-and-add and prettier configs to exclude .yarn/
• Updates e2e Dockerfile to account for new changes
• Drops Lerna dependency in favor of plain Yarn workspaces, similar to service and action

Motivation

• Simplifies some common dev commands. In particular, the command to update report package snapshots changes from yarn test:report:e2e -- -- -- -u to just yarn test:report:e2e -u
• Consistency with other repos
• Allows for versioned resolutions (similar to chore: clean up yarn resolutions using versioned specifiers accessibility-insights-action#1596) - I left modifying existing resolutions out of scope since this PR was already pretty large without them, will cover them in a different PR
• Removes a dependency (Lerna)

Context

Similar PRs in other repos:

• Migrated to yarn v3 accessibility-insights-service#2210
• feat: stop ADO extension reliance on pipeline-installed Node and Yarn versions (by migrating to yarn v3) accessibility-insights-action#1559
• chore: clean up yarn resolutions using versioned specifiers accessibility-insights-action#1596
• chore: migrate to yarn v3 axe-sarif-converter#935
• https://github.com/microsoft/accessibility-insights-docs/pull/1577

Pull request checklist

• [n/a] Addresses an existing issue: #0000
• Ran yarn fastpass
• [n/a] Added/updated relevant unit test(s) (and ran yarn test)
• [n/a] Verified code coverage for the changes made. Check coverage report at: <rootDir>/test-results/unit/coverage
• PR title AND final merge commit title both start with a semantic tag (fix:, chore:, feat(feature-name):, refactor:). See CONTRIBUTING.md.
• [n/a] (UI changes only) Added screenshots/GIFs to description above
• [n/a] (UI changes only) Verified usability with NVDA/JAWS

[waabid]

LGTM