Add Support for Express 5 and Remove Support for Express 4

[Megapixel99]

Despite the initial hope of this being a small pull request, there were a lot of required changes to improve the readability of the code and support Express 5. I tried to comment the code as best I could but if something looks off, please add a comment in the PR.

Breaking Changes:

• Removed support for Express 4
  • We can continue supporting Express 4 on a different branch, if desired

Major Changes:

• Revamped tests for regex routes to align with Express 5's regex requirements
• Added a couple more tests to ensure sub routes (routes within routes) worked properly
• Rewrote lib/generate-doc.js
• Updated the versions of NodeJS which the tests are running against
• Removed tests for Express 4
• Updated express to the latest version
  • Made express a peer dependency
• Updated router to feat: add getRoutes method to list registered routes pillarjs/router#174 (so we can access getRoutes())

Minor Changes:

• Included (most) of the changes from: Simplify test when including _moreRoutes.js external route #74
• Updated/Added comments
• Modified lib/validate.js with code found here: fix: ensure req.query is writable vercel/next.js#81573 (comment) so we can coerce req.query and req.params (req.query and req.params are read only in Express 5 by default)

[socket-security]

Review the following changes in direct dependencies. Learn more about Socket for GitHub.

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[Megapixel99]

This PR is dependent on getRoutes() and should not be merged until getRoutes() is officially released.