Fix #13777 by improving the underdetermined CUSK error message

The error message that GHC emits from underdetermined CUSKs
is rather poor, since:

1. It may print an empty list of user-written variables if there
    are none in the declaration.
2. It may not mention any `forall`-bound, underdetermined
    variables in the result kind.

To resolve these issues, this patch:

1. Doesn't bother printing a herald about user-written
    variables if there are none.
2. Prints the result kind to advertise any
    underdetermination it may exhibit.

Test Plan: make test TEST=T13777

Reviewers: goldfire, bgamari

Reviewed By: goldfire

Subscribers: rwbarton, thomie, carter

GHC Trac Issues: #13777

Differential Revision: https://phabricator.haskell.org/D4771