feat(publish): disable legacy verifyAccess behavior by default

[fahslaj]

Default verifyAccess to false for publish. Improve error message when encountering a npm automation token with verifyAccess=true.

Description

Lerna will no longer try to verify the user's access (to the npm packages they are publishing) by default during lerna publish. Setting the verifyAccess option will still perform the verification as before. This also removes the need to ever use --no-verify-access, since that is now the default behavior.

Motivation and Context

This is important because the standard for authentication to npm in a CI/CD pipeline is using a npm automation token. These tokens do not support the verifyAccess option, due to the automation token's lack of read permissions. This PR also adds a more detailed error for the user when this case is encountered.

See #2788 for discussion on lerna & npm automation tokens.

How Has This Been Tested?

I manually tested publishing a new lerna repo with a npm automation token and observed the behavior, both with verifyAccess=true and verifyAccess=false. I also performed this same test using a npm "publish" token. Unit tests have been added to cover the new behavior and the changed default behavior.

Types of changes

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Chore (change that has absolutely no effect on users)

Checklist:

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have added tests to cover my changes.
• All new and existing tests passed.