Avoid using lerna for publishing packages.

[tada5hi]

Is your feature request related to a problem? Please describe.
The problem is that the docs suggest using lerna to publish already incremented package versions through semantic-release. However, lerna is a complete boilerplate for this and requires unnecessary configuration.

Describe the solution you'd like
I created a library called workspaces-publish, that facilitates the publication of packages encompassing multiple workspaces as defined in a package.json file. It determines the unpublished packages by checking each package manifest of the registry, if one already exists.
Describe alternatives you've considered
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Additional context
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