fix(clients): export explicit dependencies on @aws-sdk/types

[alexforsyth]

Issue #, if available:
#1842

Codegen: smithy-lang/smithy-typescript#262

Description of changes:
Packages that depend on @aws-sdk/types should explicitly call out that dependency so that downstream consumers get type support out of the box and do not have to install their own version of @aws-sdk/types . This PR should do that for all packages that depend on @aws-sdk/types in AWS sdk v3.

By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.

[codecov-io]

Codecov Report

Merging #1902 (7bacc12) into master (f2a47e8) will increase coverage by 0.52%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #1902      +/-   ##
==========================================
+ Coverage   79.30%   79.83%   +0.52%     
==========================================
  Files         368      368              
  Lines       15132    15551     +419     
  Branches     3222     3367     +145     
==========================================
+ Hits        12001    12415     +414     
- Misses       3131     3136       +5     

Impacted Files	Coverage Δ
packages/util-waiter/src/utils/validate.ts	81.81% <0.00%> (-18.19%)	⬇️
lib/storage/src/data-chunk/readable-helper.ts	86.84% <0.00%> (-5.47%)	⬇️
packages/s3-request-presigner/src/getSignedUrl.ts	92.85% <0.00%> (-2.98%)	⬇️
packages/util-dynamodb/src/convertToAttr.ts	98.70% <0.00%> (-1.30%)	⬇️
packages/util-waiter/src/waiter.ts	100.00% <0.00%> (ø)
protocol_tests/aws-ec2/endpoints.ts	81.48% <0.00%> (ø)
protocol_tests/aws-json/endpoints.ts	81.48% <0.00%> (ø)
protocol_tests/aws-query/endpoints.ts	81.48% <0.00%> (ø)
packages/util-dynamodb/src/marshall.ts	100.00% <0.00%> (ø)
protocol_tests/aws-restxml/endpoints.ts	81.48% <0.00%> (ø)
... and 141 more

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[aws-sdk-js-automation]

AWS CodeBuild CI Report

• CodeBuild project: sdk-staging-test
• Commit ID: 7bacc12
• Result: SUCCEEDED
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[github-actions]

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