BUG,DEP: Non-default UFunc signature/dtype usage should be deprecated #19662
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Backport or #19632.
Previously, this was an straight typeerror that went mostly unnoticed
for 1.21.0 and 1.21.1. However, that was never the intention, it should
have been a normal DeprecationWarning to allow transition where necessary.
Closes gh-19625