ESM support, stage 2

https://github.com/elastic/apm-agent-nodejs/issues/1952 will add initial experimental ESM support. This issue lists a number of follow tasks for ESM support:

- [ ] node v20 support (there is an IITM update with support): https://github.com/elastic/apm-agent-nodejs/pull/3469
- [ ] work through remaining modules:
- [ ] lambda functions
- [ ] azure functions
- [ ] \@apollo/server
- [ ] \@elastic/elasticsearch
- [ ] \@opentelemetry/api
- [ ] \@opentelemetry/sdk-metrics
- [ ] apollo-server-core
- [ ] aws-sdk
- [ ] bluebird
- [ ] cassandra-driver
- [ ] elasticsearch
- [ ] express-graphql
- [ ] express-queue
- [ ] finalhandler
- [ ] generic-pool
- [ ] graphql
- [ ] handlebars
- [ ] hapi, \@hapi/hapi
- [ ] http2
- [ ] jade
- [ ] koa
- [ ] koa-router, \@koa/router
- [ ] memcached
- [ ] mimic-response
- [ ] mongodb-core
- [ ] mongodb
- [ ] mysql
- [ ] mysql2
- [ ] next
- [ ] pug
- [ ] redis
- [ ] restify
- [ ] tedious
- [ ] undici
- [ ] ws
- [ ] https://github.com/elastic/apm-agent-nodejs/issues/1612
- [ ] revisit the "starting the agent" docs now that there is some ESM support. Might want to start preferring the option of using the node CLI options rather than starting in code.
- [ ] Lambda support for .mjs files (see `getFilePath` in "lib/lambda.js")