Update ESRP publish pipeline and TS versions

[jfullerton44]

Fixes issue where wrong folder was reference in the ESRP build step. Also updates the version dependencies in the TS packages.

Other Tasks:

• If you updated the Go SDK did you update the PackageVersion in tunnels.go
• If you updated the TS SDK did you update the dependencies in package.json for connections and management to require a dependency that is > the current published version(Found using npm view @microsoft/dev-tunnels-contracts). This will fix issues where yarn will pull the old version of packages and will cause mismatched dependencies. See example PR