feat!: flatten api

[achou11]

Before, we represented options that were passed into the underlying core api as opts object, which resulted in us having awkward opts-nesting our user-facing APIs. Now we flatten and explicitly specify the parameters of interest, which are still internally passed as an options object to the core apis. This is a notable breaking change.

This PR also:

• updates the TSDoc annotations to better follow TSDoc
• updates the type annotations to rely less on mirroring types from core internals (e.g. Parameters<typeof ...>