clang-tidy readability-qualified-auto (#3702)

* Adding readability-qualified-auto to .clang-tidy

Ported from @henryiii's https://github.com/pybind/pybind11/pull/3683/commits/287527f705c8badee8ba9f6278d691fe0450ae43



* fix: support Python < 3.6

Co-authored-by: Henry Schreiner <henryschreineriii@gmail.com>