Investigate the use of ESM modules

[rprieto]

The following dependencies cannot be updated, because they switched to ESM:

• url-join
• chalk
• boxen

Error [ERR_REQUIRE_ESM]: require() of ES Module node_modules/boxen/index.js from src/cli/messages.js not supported.
Instead change the require of index.js in src/cli/messages.js to a dynamic import() which is available in all CommonJS modules.

This might require the following change:

- const boxen = require('boxen')
+ import boxen from 'boxen'

And in package.json

{ 
   "type": "module",
 }

However we need to investigate the impact, e.g. if minimal version of Node, etc.