[3.13] gh-119933: Improve ``SyntaxError`` message for invalid type parameters expressions (GH-119976) (#120641)

(cherry picked from commit 4bf17c381fb7b465f0f26aecb94a6c54cf9be2d3)

Co-authored-by: Bénédikt Tran <10796600+picnixz@users.noreply.github.com>