Upgrade to Node.js 16

# Migration to Node.js v16

## Context
Version 16 is the current LTS version as of now (https://nodejs.org/en/about/releases/).

## Currently
- CI tests run on Node.js v10 and v12.
- Dockerfile uses "node:17" image :cry:.
- The `test/docker/run-docker-test.bash` script runs using the "node:10.15.3" Docker image.
- `package.json` file does not declare any node versions in "engines" section.
- The `.nvmrc` file has v10.24.1.
- GitHub action "npm-publish" uses v10 during step "actions/setup-node" but the step is probably unnecessary since it does not run anything.

## Tasks
- [x] Consolidate node versions used across code base. Consider to have a single source for the version. A dev setup script might be needed.
- [ ] Update local configuration.
- [ ] Update build environment of GitHub actions.
- [ ] Upgrade dependencies one-by-one.
- [ ] Consider to remove dependencies that can be replaced by a Node.js API.\
- [ ] Remove "actions/setup-node" step from "npm-publish" action. Consider to upgrade to the latest "pascalgn/npm-publish-action" for the publish step.

## Out of scope

## Linked issues
- #352