chore: add invariant on ESM support in dynamic import

[SimenB]

Summary

Noticed in #11163 we got a really bad error in import usage:

Now it's

Which is not beautiful, but way more useful

Test plan

See screenshots 😀

[codecov-io]

Codecov Report

Merging #11164 (c1f5b67) into master (26b2237) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##           master   #11164      +/-   ##
==========================================
- Coverage   64.19%   64.18%   -0.01%     
==========================================
  Files         307      307              
  Lines       13372    13374       +2     
  Branches     3260     3260              
==========================================
  Hits         8584     8584              
- Misses       4083     4085       +2     
  Partials      705      705              

Impacted Files	Coverage Δ
packages/jest-runtime/src/index.ts	55.41% <0.00%> (-0.18%)	⬇️

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[github-actions]

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