Improve error messages for modular pipelines

[AhdraMeraliQB]

Description

Closes #2633

Our ModularPipelineErrors have not been the most informative or clear to understand. This PR updates two of them in an effort to improve clarity.

1. When creating a pipeline using the pipeline() function, if the provided inputs/outputs/parameters do not match up with those of the nodes provided, the following error message, with relevant suggestions, will now be raised:

ModularPipelineError: Failed to map these inputs onto the nodes provided: model_input_table - did you mean one of these instead: model_input_table_NOT_FOUND

2. The error message ModularPipelineError: Inputs should be free inputs to the pipeline has been updated to the more clear ModularPipelineError: Inputs must not be outputs from another node in the same pipeline

3. The error message ModularPipelineError: Outputs can't contain free inputs to the pipeline has been updated to the more clear ModularPipelineError: All outputs must be generated by some node within the pipeline

Development notes

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Checklist

• Read the contributing guidelines
• Signed off each commit with a Developer Certificate of Origin (DCO)
• Opened this PR as a 'Draft Pull Request' if it is work-in-progress
• Updated the documentation to reflect the code changes
• Added a description of this change in the RELEASE.md file
• Added tests to cover my changes
• Checked if this change will affect Kedro-Viz, and if so, communicated that with the Viz team

[datajoely]

Great work! This is massively helpful and one the points we raised in #3094. I have some wording suggestions, but I think this is a really useful update.

[ElenaKhaustova]

Tested on my side, LGTM!

Left a suggestion on adjusting the message in case of non_existent > 1 and approving the PR. 🚀

[DimedS]

Thanks for the PR, @AhdraMeraliQB ! This greatly improves clarity and usability!

[astrojuanlu]

Tested this locally ⭐ thanks @AhdraMeraliQB and reviewers!