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FYI I tried renaming packages/bar/index.ts to index.js and adding allowJs: true in its tsconfig.json and tsconfig.build.json and everything works as expected.
It looks like you are aiming for monorepos of applications and not monorepos of packages. Nx is probably a better fit https://nx.dev/ (the team behind nx took over maintaining lerna)
It may be worth it for OP to use that command, then use Nx's generators to add some projects to the workspace, and just look at some of the ways it configures projects. There's also the Nx examples repo, but that may be a bit much for somebody who doesn't know anything about the tool yet.
i am currently of the opinion that the current state of monorepos is not good. look at https://github.com/facebook/create-react-app/issues/1333 for examples of the crazy workarounds that people use.