Replace ts-node with tsx or add support to tsx

[rtritto]

Pre-flight checklist

• I have read the contribution documentation for this project.
• I agree to follow the code of conduct that this project uses.
• I have searched the issue tracker for a feature request that matches the one I want to file, without success.

Problem description

Related to ts-node, tsx only loses type checking and gain other features.

Source: https://github.com/privatenumber/ts-runtime-comparison

Proposed solution

Replace ts-node with tsx (this will fix #3609)

Alternatives considered

Add support to tsx

Additional information

Close #3609 if ts-node is replaced with tsx

[rtritto]

tsx can replace rechoir (missing ESM support #3671 (comment)) and ts-node dependencies.
tsx handles the preparation and running of ESM/TypeScript modules out of the box (manual setup preparations, like rechoir.prepare, are no longer needed). So files in ESM/TypeScript format can directly import or require.

FYI @caoxiemeihao @erickzhao @MarshallOfSound