feat: use safe version of xmldom and mocha

[ncluer]

** READ THIS FIRST! **

Are you implementing a new feature?

n/a

Is this a security patch?

Removes dependency on xtraverse and uses safer version of xmldom to handle the fallback in parseErrorResponse.

Updates mocha to safe version with no critical vulnerabilites.

Checklist

• I have read the CONTRIBUTING guidelines.
• I have added test cases which verify the correct operation of this feature or patch.
• I have added documentation pertaining to this feature or patch.
• The automated test suite ($ make test) executes successfully.
• The automated code linting ($ make lint) executes successfully.

[RobinTail]

@jaredhanson please review