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refactor: Replaced explicit typings with auto generated ones (#745)

## Summary
This SDK was originally javascript only. We had to add explicit typings in `lib/index.d.ts` to support typescript users. Now that it has been converted to typescript, we can safely remove `lib/index.d.ts` and autogenerate typings. This PR does exactly that. We also encountered some discrepancies with existing typings so we fixed those too. 

## Test plan
- Manually tested thoroughly with typescript projects
- All existing tests pass.

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