Missing argument error messages should be closer to python's

Issue description

When a user neglects to provide the correct number of arguments, pybind11 gives a different error message than that which python users might expect. In my opinion, the python error message is clearer.

Reproducible example code

int add(int i, int j) {
    return i + j;
}

def pyadd(i, j):
    return i + j

So if I call the python snippet:

>>> pyadd(1)
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
TypeError: pyadd() missing 1 required positional argument: 'j'

Whereas the pybind11 snippet is:

>>> add(1)
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
TypeError: add(): incompatible function arguments. The following argument types are supported:
    1. (i: int, j: int) -> int

Invoked with: 1

Now, this isn't a great example because the types are really short. But as a user, the first thing that I'm scanning for is the types and whether my types match -- it takes some effort to figure out the number is incorrect. Here's a more real example from pybind11:

Traceback (most recent call last):
  File "C:\Users\first\AppData\Local\Programs\Python\Python38\lib\site-packages\wpilib\_impl\start.py", line 106, in start
    self.robot.startCompetition()
  File "robot.py", line 84, in teleopPeriodic
    self.drive.arcadeDrive(self.trig, self.con0.getX())
TypeError: getX(): incompatible function arguments. The following argument types are supported:
    1. (self: wpilib._wpilib.XboxController, hand: wpilib.interfaces._interfaces.GenericHID.Hand) -> float

Invoked with: <wpilib._wpilib.XboxController object at 0x0000022286350F30>

There's a lot of punctuation in that error message, and the actual issue (missing argument) is obscured by everything. This gets worse as the number of arguments increases.

Start by tracing pybind11's argument-count error formatting and compare its output with the Python TypeError examples in the issue. Determine how missing positional arguments should be distinguished from type mismatches and define done as a clearer diagnostic that identifies the missing arguments without obscuring supported signatures.