>>> So um, what's the best way to make this behavior the default?
>>
>> This is a nice behavior but the problem is that overriding
>> command-error-function also removes other useful default features
>> such as logging error messages to the *Messages* buffer
>> (see more at ‘print_error_message’).
>
> Could we first print it and then call minibuffer-message?

Here is a complete 1-to-1 rewrite of the C function ‘print_error_message’
in Lisp that now can be used for more user-friendly displaying error messages
in the minibuffer: