refactor!: Use f-strings for string formatting

This commit refactors the codebase to consistently use Python 3.6
f-strings for string concatenation and interpolation.

BREAKING CHANGE: This update increases the minimum required Python
version from 3.5 to 3.6. Python 3.5 reached end-of-life in September
2020 (~4 years ago) and has been dropped from most distributions, so the
impact on users should be minimal.