Fixed #19820 -- Provide the user with more helpful deserialization error message

This pull supersedes https://github.com/django/django/pull/3098

To answer @timgraham in the previous pull:
> What do you mean by "partial fix"? If we commit this should we leave the ticket open?
The original pull request only dealt with specific errors, mainly with invalid foreign keys, but would still give bad error messages for invalid pks and regular fields. This new PR should fix most/all of that with the exception of deserializing XML; I think the xml deserializer may still raise unhelpful error messages.