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feat!: migrate to async persistence (#1034)

This PR migrates Aedes to use the async persistence interface.

It contains the following sub items:

- [X] replace all callback calls to persistence by `.then()` calls
- [X] move all side effects (setting up persistence, attaching event
handlers etc) to a `listen()` method of Aedes
- [X] update `createBroker()` to be async and make it await `listen()`
as well
- [X] update exports so that they produce a warning if people use old
style calling
- [X] update Typescript typing
- [X] update documentation including examples
- [X] add a `migration.md` to help users migrate.
- [X] do some benchmark tests to see performances are kept
- [X] update node engines version to >=20
- [X] updates all dependencies to current except for Tap and
@sinonjs/fake-timers

BREAKING CHANGES: See
[docs](https://github.com/moscajs/aedes/blob/main/docs/MIGRATION.md)

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