Support relative paths in import-esm util

[medikoo]

Improve input path handling, as suggested at #11586 (comment)

[codecov]

Codecov Report

Base: 85.63% // Head: 85.63% // No change to project coverage 👍

Coverage data is based on head (5164c8f) compared to base (e791e04).
Patch coverage: 100.00% of modified lines in pull request are covered.

Additional details and impacted files

@@           Coverage Diff           @@
##             main   #11593   +/-   ##
=======================================
  Coverage   85.63%   85.63%           
=======================================
  Files         315      315           
  Lines       13134    13134           
=======================================
  Hits        11247    11247           
  Misses       1887     1887           

Impacted Files	Coverage Δ
lib/utils/import-esm.js	100.00% <100.00%> (ø)

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