Deprecate palm scaffold config error message

[mariahjrogers]

Describe the bug
Running any palm command before a local project has been initialized (palm init) displays the old error message encouraging users to run the deprecated palm scaffold config command to generate the config file.

Your environment

• palm version: 2.5.3
• OS: Mac
• Docker version: 24.0.1
• Other dependencies & versions:

How to reproduce
Run palm --help in a new project folder before palm init has been run.

Expected behavior
An error message that suggests initializing the project with palm init

Actual behavior
An error message that suggests running palm scaffold config

Screenshots

Additional context