feat: replace qs with qs-esm (#6966)

qs-esm is a qs fork I created and doesn't add bloated polyfills, is
ESM-only, has a smaller bundle size and comes with types included.

qs:
https://bundlephobia.com/package/qs@6.12.1 (11kb)
https://npm.anvaka.com/#/view/2d/qs (15 dependencies)

qs-esm:
https://bundlephobia.com/package/qs-esm@7.0.0 (4.2kb)
https://npm.anvaka.com/#/view/2d/qs-esm (1 dependency)

I don't agree with the backwards philosophy of qs:
https://github.com/ljharb/qs/issues/404#issuecomment-806392831 ("more
deps is better", lower bundle size as opt-in, maximum environment
compatibility as opt-out)

qs imports waaay too many useless dependencies

docs/queries/overview.mdx

@@ -154,7 +154,7 @@ This one isn't too bad, but more complex queries get unavoidably more difficult
 **For example, using fetch:**
 
 ```js
-import qs from 'qs'
+import { stringify } from 'qs-esm'
 
 const query = {
   color: {
@@ -165,7 +165,7 @@ const query = {
 }
 
 const getPosts = async () => {
-  const stringifiedQuery = qs.stringify(
+  const stringifiedQuery = stringify(
     {
       where: query, // ensure that `qs` adds the `where` property, too!
     },