feat: add type commonjs for all pkgs

[chenjiahan]

Summary

• Add type: commonjs in package.json of all packages to avoid potential breakage in future Node versions, see this issue and core-js
• In the future, we can change the type to esmodule and add .cjs extension for commonjs modules.

Checklist

• I have updated the documentation.
• I have added tests to cover my changes.

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