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util: upgrade ts-node for native ESM support (#4211)
ts-node has native ESM support in [v10.7.0 version](https://github.com/TypeStrong/ts-node/releases/tag/v10.7.0), although according to the [related PR](TypeStrong/ts-node#1655) says, they are just spawn a child process that passed `--loader ts-node/esm` options to node itself. Also, upgrade `typescript` and `typescript-eslint` to the newer version.
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