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If I was creating a project like yours with multiple related packages I would be tempted to create a monorepo. I was going to share the pros and cons I've experienced when creating and working with monorepos for Node.js projects, however I'm not totally clear on the purpose of the "central repo" which you've linked to (https://github.com/kaviarjs/kaviar). In the README it says:
I highly recommend using a package proxy like https://github.com/verdaccio/verdaccio instead of git submodules if you have more then one developer using your code/repo. Biggest factor is the cost of the developers time. Why teach them a different way to install dependancies when there is a standard way of doing things your CI/CD is simplified, the knowledge of git submodules is good to know, but this is now tribal knowledge on how to setup this up, update dependancies, etc...