Migrate to ESRP publishing

[Timothee Guerin (timotheeguerin)]

Changes:

1. Setup ESRP release task
2. Resolve in build job which package needs to be published
3. Only run publish npm job if one package at least needs to be published
4. Separate create github release into its own job due to restriction around checkout source in release jobs

[github-actions]

No changes needing a change description found.

[Azure SDK Bot (azure-sdk)]

You can try these changes here

🛝 Playground	🌐 Website	🛝 VSCode Extension

[pkg-pr-new]

Open in StackBlitz

npm i https://pkg.pr.new/microsoft/typespec/@typespec/bundler@9189

commit: 986601c