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Experimental ESM support for node >=13 (#1010)

* Initial commit

* fix exports declaration in package.json; update example readme

* add missing file to package files array

* Add missing .js extension to ESM resolver

* WIP to support EmitFlavor, which I'm going to undo since actually we don't need to support 2x emit flavors

* Add foo.js -> foo.ts resolution, remove compileEsm codepath, add support for experimental-specifier-resolution=node

* Add testing on node 14 to CI

* Add ESM header to README

* Add ESM test

* ESM loader factory accepts RegisterOptions

* Add copy of node's ESM loader to make diffing easier.

* Fix tests

* Fix tests

* type annotation in esm.mjs

* fix tests on ts 2.7

* Conditionally run esm tests on node >= 13

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