chore(*): update minimum Yarn version, do some Yarn-related cleanups

Included changes:

*Update minimum Yarn version from 1.3.2 to 1.10.1*

Yarn 1.10 added the integrity field to the lockfile, making newer Yarn users
have their lockfile changed a lot if they run `yarn`. This commit updates the
required Yarn version to be at least 1.10.1 and changes Travis & Jenkins to use
Yarn 1.10.1

*Change the package.json's engines grunt field to grunt-cli*

The grunt field suggested it's the grunt package version we're checking while
we check the grunt-cli version instead.

*Stop separating Yarn script arguments from script names via " -- "*

The " -- " separator is necessary in npm but not in Yarn. In fact, it's
deprecated in Yarn and some future version is supposed to start passing this
parameter directly to the scripts which may break them.

*Don't install grunt-cli globally during the build*

It's enough to use `yarn grunt` instead of `grunt` and the global grunt-cli
installation is no longer needed.

*Use `yarn grunt` instead of `yarn run grunt`*

The former form is shorter.

*Don't define the `grunt` Yarn script*

As opposed to npm, `yarn binName` invokes a binary named `binName` exposed
by the respective package so the `grant` Yarn script is no longer needed.

*Allow Node versions newer than 8; bump the minimum*

Closes #16714