feat: use ts-jest for running jest tests

[trivikr]

Issue

Fixes: #1032

Description

Runs all jest tests using ts-jest. This removes the need of transpiling *.spec.ts files allowing developers to build source just once, and run tests without transpling.

Caveat: The build command is removed from pretest for individual packages. Developers will have to explicitly run build instead of pretest before running tests.

Testing

Verified that jest tests are successfully run after the build is successful.

$ yarn test:all

$ yarn test:integration

# in packages/abort-controller
$ yarn test

# in lib/lib-storage
$ yarn test

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[codecov-io]

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@@           Coverage Diff           @@
##             main    #2088   +/-   ##
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  Coverage        ?   78.83%           
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  Files           ?      377           
  Lines           ?    16095           
  Branches        ?     3489           
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  Hits            ?    12688           
  Misses          ?     3407           
  Partials        ?        0           

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[aws-sdk-js-automation]

AWS CodeBuild CI Report

• CodeBuild project: sdk-staging-test
• Commit ID: 6c9b9c8
• Result: SUCCEEDED
• Build Logs (available for 30 days)

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[alexforsyth]

Some discussion offline. LGTM!

[github-actions]

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