Reduce dependencies from qs

[benmccann]

https://npmgraph.js.org/?q=qs - 18 dependencies
https://npmgraph.js.org/?q=neoqs - 0 dependencies

Used the legacy entrypoint for CJS support

[CLAassistant]

All committers have signed the CLA.

[dt-eric-lefevreardant]

snyk test on my project reports vulnerabilities in qs@6.14.0:

Issues with no direct upgrade or patch:
  ✗ Allocation of Resources Without Limits or Throttling [High Severity][https://security.snyk.io/vuln/SNYK-JS-QS-14724253] in qs@6.14.0
    introduced by @dropbox/sign@1.10.0 > qs@6.14.0 and 1 other path(s)
  This issue was fixed in versions: 6.14.1

Sounds like this PR could fix this issue.