Update nodejs version to latest LTS

[shuse2]

Description

Update minimum required node.js version to 16 for all the packages.
Additionally, it should include #6810 changes for node 16

Motivation

Node 12 LTS is ending at 2022-04-30

[shuse2]

11:07:19 INFO lisk-framework: Current Lisk PID (module=lisk:app)
TypeError: The "data" argument must be of type string or an instance of Buffer, TypedArray, or DataView. Received type number (44518)
    at writeFile (node:fs:2106:5)
    at go$writeFile (~/Documents/10_lisk/lisk-sdk/node_modules/graceful-fs/graceful-fs.js:139:14)
    at Object.writeFile (~/Documents/10_lisk/lisk-sdk/node_modules/graceful-fs/graceful-fs.js:136:12)
    at ~/Documents/10_lisk/lisk-sdk/node_modules/fs-extra/node_modules/universalify/index.js:8:12
    at new Promise (<anonymous>)
    at Object.writeFile (~/Documents/10_lisk/lisk-sdk/node_modules/fs-extra/node_modules/universalify/index.js:7:14)
    at Application._validatePidFile (~/Documents/10_lisk/lisk-sdk/framework/src/application.ts:405:12)
    at processTicksAndRejections (node:internal/process/task_queues:96:5)
    at Application.run (~/Documents/10_lisk/lisk-sdk/framework/src/application.ts:259:3)
    at StartCommand.run (~/Documents/10_lisk/lisk-sdk/commander/src/bootstrapping/commands/start.ts:225:4)

On version 16, fs.write must be string but application.ts:405 is saving as number