[Infra] Update to `emsdk/3.1.51` or newer

[rturrado]

There is an issue when running the JS code generated from emscripten builds in a Firefox browser that should be fixed by emsdk/3.1.51.

That code modifies Error.stack which is read-only as per spec, but only Firefox follows this spec.

[rturrado]

When using emsdk/3.1.51 or newer, we should also get rid of the replace_requires in conan/profiles/{debug,release}, since emsdk/3.1.51 or newer should use nodejs/16.20, instead of nodejs/16.3.

See emsdk/3.1.53 Conan recipe PR and emsdk/3.1.53 Conan recipe issue.