Trap a salesforce permission error in order to display a friendlier message?

Have you considered using the method I put together in this post.
https://community.skuid.com/t/how-to-enable-disable-row-actions-edit-delete-button-based-on-user-access-level-on-particular-record

You can also create a “fake” delete button for those who don’t have the proper user record access to the record in question. That button can have a popup action with a message within it saying what ever you’d like.