Update lodestar ecosystem to ES modules (ESM)

[wemeetagain]

Once lodestar dependencies move to ES modules only, we can't upgrade unless we also move. Since ES modules are the future, we should migrate when possible.

Current progress

• ChainSafe/lodestar: ESM Support #3978
• ChainSafe/lodestar: Update libp2p to ESM version #4114

libp2p

• ChainSafe/js-libp2p-gossipsub: fix!: update to esm only export js-libp2p-gossipsub#236
• ChainSafe/js-libp2p-noise: feat: update to new libp2p interfaces js-libp2p-noise#134
• ChainSafe/discv5: feat!: convert to esm only discv5#184

bls

• ChainSafe/bls: ESM Support bls#121
• ChainSafe/blst-ts: N/A

ssz

• ChainSafe/ssz: N/A

Related:

• Using ESM for js-ipfs and js-libp2p codebases ipfs/js-ipfs#951
• ESM modules demo #3183
• Go full ESM modules #3182

[dapplion]

Related

• ESM modules demo #3183
• Go full ESM modules #3182

[philknows]

@wemeetagain Does #3978 conclude the upgrades to ESM? If so, we can close this.

[wemeetagain]

We will migrate our other libraries over to ESM too. ssz monorepo packages, bls packages, discv5, etc.
Lower priority tho, no urgency

[wemeetagain]

• Update libp2p to ESM version #4114 is related

[philknows]

We should continue discussing this for https://github.com/ChainSafe/ssz