Build: Test on Node 17, update Grunt & `karma-*` packages

Build: Test on Node 17, update Grunt & `karma-*` packages

This adds testing on Node.js 17 in addition to the currently tested 10, 12, 14
and 16 versions.

Also, update Grunt & `karma-*` packages.

Testing in Karma on jsdom is broken in Node 17 at the moment; until we find
a fix, this change disables such testing on Node 17 or newer.

Node smoke tests & promises aplus tests are disabled on Node.js 10 as they
depend on jsdom and the latest jsdom version doesn't run properly on Node 10.

Closes gh-5023

(cherry picked from commit 2525cffc42934c0d5c7aa085bc45dd6a8282e840)