fix: make type discoverability better

[isabelle-cedar]

For types exposed to the user (mainly in AgentConnectionTypes.ts and AgentInputContextTypes.ts, we need to make the discoverability of the types better, especially if they take in generic parameters.

Probably would use Typedocs for Typescript types, and an equivalent for Zod types.

[Adityasinghvats]

@isabelle-cedar Can you give a simple example for what you want exactly, and I would like to work on this issue?