Avoid using lerna for publishing packages.

**Is your feature request related to a problem? Please describe.**
The problem is that the docs suggest using lerna to publish already incremented package versions through semantic-release. However, lerna is a complete boilerplate for this and requires unnecessary configuration.

**Describe the solution you'd like**
I created a library called [workspaces-publish](https://github.com/tada5hi/workspaces-publish), that facilitates the publication of packages encompassing multiple workspaces as defined in a package.json file. It determines the unpublished packages by checking each package manifest of the registry, if one already exists.
**Describe alternatives you've considered**
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**Additional context**
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