Move to `clap` Derive API

[szokeasaurusrex]

Changing to the clap Derive API will allow us to define commands as structs, and have the arguments automatically parsed into the respective fields on the struct. The Derive API is arguably simpler and using the Derive API will allow us to avoid type errors like #1888, since these would be caught at compile time rather than runtime. We are currently primarily only using the alternative Builder API for historical reasons (the Builder API is older than the Derive API).