Support for ESM Modules

[rhamzeh]

Please do not report security vulnerabilities here. See the Responsible Disclosure Program.

Thank you in advance for helping us to improve this library! Please read through the template below and answer all relevant questions. Your additional work here is greatly appreciated and will help us respond as quickly as possible.

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Describe the problem you'd like to have solved

We currently only support CommonJS, the industry is moving forward in support for ESM modules. We should migrate to ESM Modules but still find a way to support CommonJS for those who haven't migrated yet

Additional context

https://nodejs.org/api/esm.html
https://hacks.mozilla.org/2018/03/es-modules-a-cartoon-deep-dive/
https://jestjs.io/docs/ecmascript-modules
https://the-guild.dev/blog/support-nodejs-esm
https://blog.logrocket.com/publishing-node-modules-typescript-es-modules/