Switch from lerna to nx

[dyladan]

We have used lerna for quite some time to manage our packages and builds, but for a while now it has just been a wrapper around nx which provides significant performance improvements. This has worked fine until now, but it is starting to cause problems because we can't control the version of nx which is used. In particular our testing of node 14 fails as can be seen in #4238

Switching to nx can avoid this issue, as well as reduce the likelihood of additional similar problems in the future. Additionally, it seems that we should be using the tooling directly rather than relying on a compatibility layer for an old and deprecated technology.

[david-luna]

Contrib repo migrated to use npm workspaces in open-telemetry/opentelemetry-js-contrib#1771 for package management and still using lerna for publishing. Is that an option?

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[github-actions]

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[david-luna]

Some work already started in contrib open-telemetry/opentelemetry-js-contrib#2493

[pichlermarc]

This is essentially done in #5965, except for publishing where we still use lerna - that's fine to keep, I think.