There is no such thing as a direct mapping because no single node.js version represents a 100% transition from one version of the ECMAScript specification to a new version. Instead, it is a gradual adding of new language features over time and over many versions. As you've now received two recommendations for, node.green will show you the feature by feature transition between nodejs versions.
node.green is not really very useful, I find it very confusing for making a decision on which exmascript version to target given a base nodejs version.
The best resource I have found so far is on tsconfig github repo, e.g.: github.com/tsconfig/bases/blob/main/bases/node16.json . Here you can find typescript config files for various node versions including it's corresponding javascript version (look at the target field).
Which features ship with which Node.js version by default?
The website node.green provides an excellent
overview over supported ECMAScript features in various versions of
Node.js, based on kangax's compat-table.