Use explicit extensions in TypeScript's package.json for Node ES resolution compatibility

Bug Report

🕗 Version & Regression Information

Versions:

• 4.3.2
• 4.1.2

• This is a crash
• This is the behavior in every version I tried

⏯ Playground Link

Minimal repoducible example

💻 Code

Run tsc (yarn tsc, yarn exec tsc, npx tsc, ./node_modules/.bin/tsc) with nodejs flag --experimental-specifier-resolution=node (NODE_OPTIONS="--experimental-specifier-resolution=node" tsc)

🙁 Actual behavior

internal/process/esm_loader.js:74
    internalBinding('errors').triggerUncaughtException(
                              ^

TypeError [ERR_INVALID_MODULE_SPECIFIER]: Invalid module "file:///path/to/project/node_modules/typescript/bin/tsc" 
    at Loader.getFormat (internal/modules/esm/loader.js:117:13)
    at async Loader.getModuleJob (internal/modules/esm/loader.js:242:20)
    at async Loader.import (internal/modules/esm/loader.js:176:17)
    at async Object.loadESM (internal/process/esm_loader.js:68:5) {
  code: 'ERR_INVALID_MODULE_SPECIFIER'
}

🙂 Expected behavior

Build without errors

Start by inspecting TypeScript's package.json and the tsc entry point shown in node_modules/typescript/bin/tsc, then reproduce the crash with Node's --experimental-specifier-resolution=node flag. Done means the tsc command builds without the reported ERR_INVALID_MODULE_SPECIFIER error in the provided minimal example.