Remove commonjs dependencies

From https://saprahitesh.medium.com/7-node-js-best-practices-to-consider-in-2023-8b03ae91cec5:

Use ECMAScript modules (ESM): Node.js has been moving towards native support for ECMAScript modules, which offer a more standardized and modern approach to modular coding. In 2023, it is recommended to adopt ESM over CommonJS for better interoperability with the widest JavaScript ecosystem and improved tree-shaking capabilities for smaller bundle sizes.

Currently commonjs is still use at least for jasmine tests and the boilerplate, we should switch to ESM.