Convert some notes to help messages

Closes #18126.

At the moment this mostly only changes notes that are particularly help-oriented or directly suggest the user to do something to help messages, and does not change messages that simply explain an error message further. If it is decided that those messages should also be help messages, I can add them to this PR, but for now I’m excluding them as I believe that changing those messages might leave very few places where notes would be appropriate.