Overhaul -fprint-explicit-kinds to use VKA

This patch changes the behavior of `-fprint-explicit-kinds`
so that it displays kind argument using visible kind application.
In other words, the flag now:

1. Prints instantiations of specified variables with `@(...)`.
2. Prints instantiations of inferred variables with `@{...}`.

In addition, this patch removes the `Use -fprint-explicit-kinds to
see the kind arguments` error message that often arises when a type
mismatch occurs due to different kinds. Instead, whenever there is a
kind mismatch, we now enable the `-fprint-explicit-kinds` flag
locally to help cue to the programmer where the error lies.
(See `Note [Kind arguments in error messages]` in `TcErrors`.)
As a result, these funny `@{...}` things can now appear to the user
even without turning on the `-fprint-explicit-kinds` flag explicitly,
so I took the liberty of documenting them in the users' guide.

Test Plan: ./validate

Reviewers: goldfire, simonpj, bgamari

Reviewed By: simonpj

Subscribers: rwbarton, carter

GHC Trac Issues: #15871

Differential Revision: https://phabricator.haskell.org/D5314

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