BUG: WCSAxes.grid's signature is incompatible with parent class

### Description

`astropy.visualization.wcsaxes.core.WCSAxes` is derived from `matplotlib.axes.Axes`.

With time, `WCSAxes.grid`'s signature drifted apart from its parent class', leading to a LSP (Liskov Substitution Principle) violation.
Here's the current document for the parent method
https://matplotlib.org/stable/api/_as_gen/matplotlib.axes.Axes.grid.html#matplotlib.axes.Axes.grid

And here's the child definition
https://github.com/astropy/astropy/blob/3d5aae9d0b435c459d4e10c4958c73568eda6552/astropy/visualization/wcsaxes/core.py#L771

1) the first argument `b` was renamed `visible` (as a boolean, it's common style to pass it as keyword, which makes it a problem)
2) `which` is accepted as positional in the parent method but is keyword-only in the child method
3) `axis` is accepted positionally in both, but is on third position in the parent method and on second position in the child method

The most recent change (`b` renamed to `visible`) happened in matplotlib v3.5.0, and we currently support matplotlib 3.3, so there's an additional layer of complexity if we want to match the parent definition in a version-dependent way.
Luckily, matplotlib 3.6 is currently the oldest version recommended by [SPEC 0](https://scientific-python.org/specs/spec-0000/) so we could just bump the requirement.

The question is how to address these incompatibilities gradually (as opposed to just changing the signature in one go, which would be a breaking change)
Problem 1) can be solved using `@deprecated_renamed_argument`, however it's not the case of problems 2) and 3), which I'm not sure *can* be resolved over a deprecation period. I'm thinking we could just resolve problem 1) in a minor release, and 2) and 3) would need to be addressed in a major one.

A related issue is that `astropy.visualization.wxsaxes.coordinate_helpers.CoordinateHelper.grid` takes a `draw_grid` argument (which is equivalent to the `visible` argument) *and* arbitrary keyword arguments (`**kwargs`) that are passed from `astropy.visualization.wcsaxes.core.WCSAxes.grid`, in a way that passing `visible` as keyword in `astropy.visualization.wcsaxes.core.WCSAxes.grid` has no effect.

Originally discussed in https://github.com/astropy/astropy/pull/15985#pullrequestreview-1861391239

### Expected behavior

_No response_

### How to Reproduce

_No response_

### Versions

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Compare astropy/visualization/wcsaxes/core.py around WCSAxes.grid with matplotlib.axes.Axes.grid, including the supported matplotlib 3.3 version and the 3.6 recommendation. Then read astropy/visualization/wcsaxes/coordinate_helpers.py and CoordinateHelper.grid to trace how visible, draw_grid, axis, which, and **kwargs are handled. Done means an agreed compatibility and deprecation path that preserves intended grid behavior across supported versions.

Written by the indexing model from the issue text.