feat: make generated require() ESM compatible

[CatsMiaow]

PR Checklist

Please check if your PR fulfills the following requirements:

• The commit message follows our guidelines: https://github.com/nestjs/nest/blob/master/CONTRIBUTING.md
• Tests for the changes have been added (for bug fixes / features)
• Docs have been added / updated (for bug fixes / features)

PR Type

What kind of change does this PR introduce?

• Bugfix
• Feature
• Code style update (formatting, local variables)
• Refactoring (no functional changes, no api changes)
• Build related changes
• CI related changes
• Other... Please describe:

What is the current behavior?

Issue Number

• feat: make generated require() ESM compatible #3235
• Revert "feat: make generated require() ESM compatible" #3253
  This is a PR that improves the work that was reverted in the above issue.

I think NestJS is now generally usable in ESM projects.

• Migrate from commonjs to esm CatsMiaow/nestjs-project-performance#3

However, when using dynamic require(import) like @nestjs/swagger module, if the extension is not present, build errors or runtime errors will occur.
This cannot be solved externally and the module needs to be modified.

What is the new behavior?

I added the esmCompatible option to make it work in a custom way, as it shouldn't affect non-ESM projects or other projects.

Does this PR introduce a breaking change?

• Yes
• No

Other information

050ff34

• This is a commit that fixed an issue where the package was not recognized when installing from the github repo after forking for testing.
  • e.g. npm install github:CatsMiaow/swagger#fix/esm-compatible
• If there is an issue with this part, I will revert the commit.

npm test passed, and although it is not minimal, I tested that it works in two environments.

• commonjs + tsc nestjs-project-structure#swagger
  • package.json, nest-cli.json, swagger.ts
• esm + swc nestjs-project-performance#swagger
  • package.json, nest-cli.json, swagger.ts, generate-metadata.ts

[kamilmysliwiec]

LGTM

[kamilmysliwiec]

@CatsMiaow could you create a PR to the docs? Mentioning the new configuration attribute

[CatsMiaow]

While testing the applied code before proceeding with the documentation, I encountered an error in another environment and wrote an additional PR: #3399