Replace Planner with version from universal-router-sdk

[jfbloom22]

The planner in the universal-router-sdk is more up to date and includes v4 commands. Should we replace /shared/planner.ts with the universal-router-sdk?

https://github.com/Uniswap/sdks/blob/main/sdks/universal-router-sdk/src/utils/routerCommands.ts

Happy to open a PR for this if it is desirable.

The motivation is to make this repo more maintainable and to provide a better example in the integration tests for folks wanting to start using the power of the Uniswap Universal Router.