build(npm): migrate to npm v7 workspaces

[petermetz]

Description

As a maintainer I want to have an easy way to manage our monorepo so that I'm more productive.

Also, as a contributor I want the fastest possible iterations and a big part of that is currently the npm run configure script which bootstraps/cold starts the dependencies and it can take quite long on the average laptop (and also does not work on windows command prompt/power shell so there's that)

Reading List

https://github.com/Quramy/npm-ts-workspaces-example
https://dev.to/limal/simplify-your-monorepo-with-npm-7-workspaces-5gmj
https://www.npmjs.com/package/@monorepo-utils/workspaces-to-typescript-project-references
https://blog.bitsrc.io/npm-cli-v7-0-the-top-five-features-that-grabbed-my-attention-7f50ef7d6533

Acceptance Criteria

1. Dependency management is back under the wings of npm fully (e.g. no Lerna)
2. Documentation is updated accordingly (no more npx lerna add ...)
3. Release processes updated accordingly (no more lerna publish ... unless npm v7 cannot handle it. Ideally we'd unload Lerna as a build dependency completely.

cc: @takeutak @sfuji822 @hartm @jonathan-m-hamilton @AzaharaC @jordigiam @kikoncuo @petermetz @arnab-roy @jagpreetsinghsasan @TonyRowntree @travis-payne