chore: drop unsupported node versions (#4447)
we will test only versions that are not EOL: i.e. 20, 22, 24, and update
the engines field to give warnings on anything other than those versions.
we may further choose to require minimum subversions of 20, 22, and 24
that enable require(esm), but this PR holds off on that just yet.
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Co-authored-by: Benjie <benjie@jemjie.com>
