Add more detail to type inference error

When encountering code where type inference fails, add more actionable
information:

```
fn main() {
    let foo = Vec::new();
}
```

```
error[E0282]: type annotations needed for `std::vec::Vec<_>`
  --> $DIR/vector-no-ann.rs:2:16
   |
LL |     let foo = Vec::new();
   |         ---   ^^^^^^^^ cannot infer type for `T`
   |         |
   |         consider giving `foo` the type `std::vec::Vec<_>` with the type parameter `T` specified
```

We still need to modify type printing to optionally accept a
`TypeVariableTable` in order to properly print `std::vec::Vec<T>`.

CC #25633.

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