So I just define my types and then use typescript-json-schema or similar to build a JSON Schema at build time (i.e. from an npm script) which then I use to validate input using ajv.
The only thing I do on top of that is to use annotations like "@minimum 0" (or, in the email example, "@format email") where the base types are not enough, but those simply go inside comments.
So the compiled package only has ajv as runtime dependency (which you're likely to have anyway, as it's everywhere), you're just defining regular types with some annotations on top and use a dev dependency to build you the JSON Schema. And as popular as zod is, I think JSON Schema is more of a standard and likely to stay with us longer.
I also reference those generated JSON Schemas from my OpenAPI definition, as a bonus.