[CLEANUP beta] Inelegant throw for arg-less-paren-less helper

[mixonic]

Part of #19617

Convert the deprecation for argument-less-helper-paren-less-invocation into a throw. A more elegant version of this fix would convert the deprecation upstream in Glimmer VM into an assert, or would update the syntax to match a more desired functionality. I've taken a quick stab at that, but wasn't able to come up with something I was happy with quickly.

I suggest we land this for 4.0, and we can continue to improve the message in the throw, or remove the throw, or add an assert instead at the Glimmer VM level, in followup patches.

[mixonic]

I'm taking @rwjblue's approval and merging. I have opened an issue upstream in Glimmer-VM for the cleanup to either improve this error message or change functionality. See glimmerjs/glimmer-vm#1363

@chancancode I would still value your opinion, and I'm happy to do some more followup if you think it is critical for 4.0.