chore: merge ts project references to tsconfig.json

[legendecas]

Which problem is this PR solving?

Merge ts project references to the package's root tsconfig.json so that

1. compile a single project (in their own directory, run npm run compile) can also compile their dependencies esm/esnext targets.
2. compile at the lerna root directory (run npm run compile at the project's root) can also compile all packages' targets.

Short description of the changes

1. use tsconfig.json as the true single entrypoint for a ts project.
2. add script scripts/update-ts-references.js to replace the package update-ts-references for our own use case.

Type of change

• Internal change

Checklist:

• Followed the style guidelines of this project

[github-actions]

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[legendecas]

Closing, merging the sub-tsconfigs with the entry project references can confuse tsc about the project dependencies order.