Update development tooling versions and package manager

[ndoschek]

The project currently uses Prettier version 2, which is implicitly consumed through eslint-plugin-prettier. We should update Prettier to version 3, as well as the other development tools such as ESLint.

We should also consider moving away from yarn if possible and use npm or pnpm as package manager for this new project, as Yarn 1.x is multiple years old and no longer developed except for crucial security fixes. See https://github.com/yarnpkg/yarn

[ndoschek]

With PR GH-5, we updated the typescript, rimraf and lerna versions.
We did not yet update testing and ESLint-related dependencies, that is still missing.