feat(esm): convert to esm (#2569)

for #2543

BREAKING CHANGE: semantic-release is now ESM-only. since it is used through its own executable, the impact on consuming projects should be minimal

BREAKING CHANGE: references to plugin files in configs need to include the file extension because of executing in an ESM context

lib/get-error.js

@@ -1,7 +1,7 @@
-const SemanticReleaseError = require('@semantic-release/error');
-const ERROR_DEFINITIONS = require('./definitions/errors');
+import SemanticReleaseError from '@semantic-release/error';
+import * as ERROR_DEFINITIONS from './definitions/errors.js';
 
-module.exports = (code, ctx = {}) => {
+export default (code, ctx = {}) => {
   const {message, details} = ERROR_DEFINITIONS[code](ctx);
   return new SemanticReleaseError(message, code, details);
-};
+}