deps: remove unused mkdirp and rimraf dependencies

[pichlermarc]

Which problem is this PR solving?

Looks like mkdirp and rimraf are both unused.

• rimraf is unused since chore: speed up builds #1748
• I could not find any previous usages of mkdirp, looks like it has never been used

Short description of the changes

This PR removes all dependencies to rimraf and mkdirp

supersedes #3732
supersedes #3731

Type of change

• dependencies/internal

How Has This Been Tested?

• Existing tests

[codecov]

Codecov Report

Merging #3737 (0e6f3a6) into main (053acb6) will increase coverage by 0.01%.
The diff coverage is n/a.

❗ Current head 0e6f3a6 differs from pull request most recent head cda663f. Consider uploading reports for the commit cda663f to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3737      +/-   ##
==========================================
+ Coverage   93.44%   93.45%   +0.01%     
==========================================
  Files         290      290              
  Lines        8845     8845              
  Branches     1834     1834              
==========================================
+ Hits         8265     8266       +1     
+ Misses        580      579       -1     

see 1 file with indirect coverage changes