chore: update dependencies

[mattjohnsonpint]

Changes proposed in this pull request:

• Update minimum Node and NPM versions (Node 16 is EOL)
• Update all dependencies to latest version that build and pass tests without significant code changes
• npm audit fix for two ReDoS patches (lockfile only, on cross-spawn and micromatch)
• Fixed one minor warning about the order of types in package.json, which was seen after updating esbuild to latest
• Updated GitHub Actions to latest versions
• Removed code that was installing npm v6 because the linked bug was fixed some time ago.

I reviewed the change logs for these packages, and I think they should be ok.

I was not able to update binaryen without build/test failures. I'll look into this separately if I can find some time.

I know how to update eslint and typescript-eslint to latest, but it will be a bit involved and so it should be in a separate PR.

• I've read the contributing guidelines
• I've added my name and email to the NOTICE file

[HerrCai0907]

lgtm