Replace `qs` with a lighter option

[benmccann]

Checklist

• I have looked into the Readme and Examples, and have not found a suitable solution or answer.
• I have looked into the API documentation and have not found a suitable solution or answer.
• I have searched the issues and have not found a suitable solution or answer.
• I have searched the Auth0 Community forums and have not found a suitable solution or answer.
• I agree to the terms within the Auth0 Code of Conduct.

Describe the problem you'd like to have solved

qs has 18 dependencies. It would be nice to use an option with fewer dependencies

https://npmgraph.js.org/?q=auth0-js

Describe the ideal solution

There are a number of alternatives with details about how to choose and switch here:

https://github.com/es-tooling/module-replacements/blob/fa9d67b02c9feb28c75bd3509930234b6f5383b1/docs/modules/qs.md

Alternatives and current workarounds

No response

Additional context

No response