Unify serialize and to_string API via inspect
Replace existing `to_string`/`serialize` function pair with a single `inspect`. This change is backwards compatible, i.e., serializers and deserializers pick up `serialize` functions via ADL if available. User-defined `to_string` functions are preferred over `inspect`. Formatting hints and other meta information that can be evaluated by inspectors are realized with annotations. Close #470.
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