let's warn with heredocs

The current style for warning messages without newlines uses
concatenation of string literals with manual trailing spaces
where needed.

Heredocs have better readability, and with `squish` we can still
produce a single line.

This is a similar use case to the one that motivated defining
`strip_heredoc`, heredocs are super clean.
Merge pull request #17421 from rails/warn-with-heredoc

let warn with heredocs