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