Make error messages lazy strings

[devmotion]

Based on #419 since LazyString and lazy"..." are only available in Julia >= 1.8.

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The PR changes all error messages to lazy strings to delay string interpolation and printing of the involved quantities until the error message is displayed (and hence skip it completely if the error path is not hit). Using LazyStrings in error messages generally also helps with type inference (see e.g. JuliaLang/julia#58672 and JuliaLang/julia#54737).

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 99.82%. Comparing base (6f61dc3) to head (ce2b0b0).
⚠️ Report is 13 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #420      +/-   ##
==========================================
- Coverage   99.91%   99.82%   -0.09%     
==========================================
  Files           8        8              
  Lines        1147     1154       +7     
==========================================
+ Hits         1146     1152       +6     
- Misses          1        2       +1     

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