Upgrade Yarn to v3

This project is using Yarn v1 for managing dependencies and running package scripts. However, we're using Yarn v3 in all of our projects. We should do the same here.

Please use the module template as a guide for completing this ticket.

- Remove `.yarnrc` (this is replaced with `.yarnrc.yml` in Yarn v3)
- Copy over `.yarnrc.yml`, `.yarn/releases`, `.yarn/plugins`
- Add a `packageManager` field to `package.json` and use the same value as in the module template
- Copy `scripts/prepack.sh` over
- Rename the `prepublishOnly` package script in `package.json` to `prepack`
- Update the `build-lint-test` GitHub workflow to run `yarn --immutable` instead of `yarn --frozen-lockfile`

You can test that the `prepack` script works by running `yarn pack`. In this case the tests should be run before a local version of the package is built.

Use the module template as the reference, then update .yarnrc, .yarnrc.yml, .yarn/releases, .yarn/plugins, package.json, scripts/prepack.sh, and the build-lint-test GitHub workflow. Run the tests before building a local package, then run yarn pack to verify the prepack script and confirm the Yarn v3 configuration works.

Written by the indexing model from the issue text.