Wildcard, unicode, and modifier changes

Hi all! There's a few major breaking changes in this release so read carefully.

Breaking changes:

• The function returned by compile only accepts strings as values (i.e. no numbers, use String(value) before compiling a path)
  • For repeated values, when encode !== false, it must be an array of strings
• Parameter names can contain all unicode identifier characters (defined as regex \p{XID_Continue}).
• Modifiers (?, *, +) must be used after a param explicitly wrapped in {}
  • No more implied prefix of / or .
• No support for arrays or regexes as inputs
• The wildcard (standalone *) has been added back and matches Express.js expected behavior
• Removed endsWith option
• Renamed strict: true to trailing: false
• Reserved ;, ,, !, and @ for future use-cases
• Removed tokensToRegexp, tokensToFunction and regexpToFunction in favor of simplifying exports
• Enable a "loose" mode by default, so / can be repeated multiple times in a matched path (i.e. /foo works like //foo, etc)
• encode and decode no longer receive the token as the second parameter
• Removed the ESM + CommonJS dual package in favor of only one CommonJS supported export
• Minimum JS support for ES2020 (previous ES2015)
• Encode defaults to encodeURIComponent and decode defaults to decodeURIComponent

Added:

• Adds encodePath to fix an issue around encode being used for both path and parameters (the path and parameter should be encoded slightly differently)
• Adds loose as an option to support arbitrarily matching the delimiter in paths, e.g. foo/bar and foo///bar should work the same
• Allow encode and decode to be set to false which skips all processing of the parameters input/output
• All remaining methods support TokenData (exported, returned by parse) as input
  • This should be useful if you are programmatically building paths to match or want to avoid parsing multiple times

Requests for feedback:

• Requiring {} is an obvious drawback but I'm seeking feedback on whether it helps make path behavior clearer
  • Related: Removing / and . as implicit prefixes
• Removing array and regex support is to reduce the overall package size for things many users don't need
• Unicode IDs are added to align more closely with browser URLPattern behavior, which uses JS identifiers

v6.2.2...v7.0.0