refactor(NODE-5696): add async-iterator based socket helpers

[baileympearson]

Description

What is changing?

This PR is the first connection layer refactor. It does three things

• Rename our existing commands (Response, Query, BinMsg and Msg) to more descriptive names. Happy to revert this and put it in a separate PR.
• Creates a copy of the Connection class, called ModernConnection. This class is unused and the connection layer refactor will be done on this class so that our existing connection layer can remain unaffected until the new connection layer is ready.
• Creates generic socket helpers.
  -- read & readMany read wire protocol messages from a connection
  -- writeCommand writes a wire protocol message to a connection

These helpers are built on the readWireProtocolMessages async generator. readWireProtocolMessages replaces the message stream - it buffers data emissions from the underlying socket until a full wire protocol message has been received.

I made some additional refactors but these are intentionally additive. No existing functionality is impacted by the new code paths.

Is there new documentation needed for these changes?

No

What is the motivation for this change?

CSOT requires the ability to cancel socket read & socket write for each operation. A generic socket read/write abstraction will make the CSOT implementation at the connection layer much more straightforward.

Release Highlight

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Double check the following

• Ran npm run check:lint script
• Self-review completed using the steps outlined here
• PR title follows the correct format: type(NODE-xxxx)[!]: description
  • Example: feat(NODE-1234)!: rewriting everything in coffeescript
• Changes are covered by tests
• New TODOs have a related JIRA ticket

[nbbeeken]

@durran I already requested your review since I will be out soon, you might as well take up the primary review reins.

Left thoughts, didn't look at the tests wanted to get you something to spur discussion on some of the decisions.