bpo-42123: Run the parser two times and only enable invalid rules on the second run (GH-22111)

* Implement running the parser a second time for the errors messages

The first parser run is only responsible for detecting whether
there is a `SyntaxError` or not. If there isn't the AST gets returned.
Otherwise, the parser is run a second time with all the `invalid_*`
rules enabled so that all the customized error messages get produced.