Update deps

[paescuj]

After #568 we can finally update the dependencies that have switched to ESM only as well.
The major updates essentially consist of ESM switches and updates to Node.js version constraints, which is why the necessary code changes on our side remain minimal.
However, we cannot update yargs yet, as this conflicts with the current test setup. The plan is to update said package after #573 / #569.

[coveralls]

coverage: 100.0%. remained the same
when pulling 1a516a0 on update-deps
into 7236836 on main.