Use canonical type names in conversion logging and error messages

[sbrannen]

Reading the error message in #4801 made me realize that we should actually log/report canonical type names instead of binary type names.

org.junit.jupiter.api.extension.ParameterResolutionException: Error converting parameter at index 0: MyConverter cannot convert objects of type [[B]. Only source objects of type [java.lang.String] are supported.

For example, instead of reporting the type as [B, we should report the type as byte[].

We should likely apply this change in ParameterResolutionUtils and TypedArgumentConverter; however, we may find that we need to apply this in other areas as well.

[scordio]

If another 5.x release is necessary, would you consider backporting this change?

It would allow me to simplify assertions in a few tests that run against both JUnit 5 and 6, where I cannot force an upgrade yet.

[marcphilipp]

Yes, I think we can include this change when backporting.