Enable esbuild in the Node.js builder

[mildaniel]

Taking over the PR from #252. Thank you @gojko for the contribution!

Description from the original PR:

Issue #, if available:

Solves the following issues or makes them obsolete

• Does sam support sym linked node_modules? aws-sam-cli#1446 (bundler supports local symlinks)
• sam build fail with "No such file or directory" for node build aws-sam-cli#1426 (no need for prepacking any more)
• https://github.com/aws/aws-sam-cli/issues/1544 (bundler will exclude dependencies if not included in the entrypoint)
• sam build does not recognise local nodejs projects outside CodeUri aws-sam-cli#2064 (bundler can read outside the code URI as long as it is not running in a docker build)
• Allow to run node_modules binaries from makefile builder aws-sam-cli#2565 (no need for a build script any more to compile tsc)
• Using TypeScript with nodejs runtime aws-sam-cli#2636 (esbuild can directly bundle .ts)
• npm link causes sam local to error aws-sam-cli#756 (no need for claudia pack any more)
• sam-beta-cdk support for typescript lambda functions - aws-lambda-nodejs aws-sam-cli#3033 (esbuild supports typescript directly)

Description of changes:

Support for ESBuild bundler running as part of the Nodejs NPM workflow, providing the following benefits:

1. support for local directory dependencies and NPM7 relative references and sym linked node_modules
2. support for TypeScript transpilation (.ts -> .js)
3. support for minification (smaller bundle sizes)

By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license.

[grahamlyons]

Super excited to see this go green.

[totegi]

This would be really nice

[falnyr]

@mildaniel any update on this? 🙏

[deepak7panwar]

@mildaniel please finish this!🙏

[CoshUS]

Sorry, missed cases for download_dependencies == false.
Added a full truth table for each possible combination.
Let me know if you have any question.

[CoshUS]

LGTM! Thanks for addressing the comments!