util: upgrade ts-node for native ESM support (quisquous#4211)

ts-node has native ESM support in [v10.7.0 version](https://github.com/TypeStrong/ts-node/releases/tag/v10.7.0),
although according to the [related PR](TypeStrong/ts-node#1655) says,
they are just spawn a child process that passed `--loader ts-node/esm`
options to node itself.

Also, upgrade `typescript` and `typescript-eslint` to the newer version.

Author: MaikoTan