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I think this change should not be made: it's a slippery slope, because there are thousands of places in the stdlib where a similar change could be made.
It's the nature of duck typing that you're not going to get a great error message everywhere you pass in the wrong type. Python programmers just have to learn this and understand it's a source of sometimes unobvious error messages.
If, despite my concerns, this change is still made, I think it is important that any new error message not mention "str", or any list of accepted types. The proposal in msg181762 is good enough: just say that whatever type was used isn't acceptable. For example: there are a number of "path object" proposals floating around, and it's possible one of those could be used with os.path.join despite it not being a str.