BUG: Bad error message on read_parquet() when wrong version of pyarrow is installed
- [x] I have checked that this issue has not already been reported.

- [x] I have confirmed this bug exists on the latest version of pandas.

- [x] (optional) I have confirmed this bug exists on the master branch of pandas.

---

#### Code Sample, a copy-pastable example

With `pyarrow<0.13` installed, 
```python
pd.read_parquet('some_file.parquet')
```

#### Problem description

The error message says that `pyarrow` should be installed, even though `pyarrow` is already installed – which makes the error difficult to diagnose and fix, when in fact, the problem is an incompatible _version_ of pyarrow.

```
  File "[...]\lib\site-packages\pandas\io\parquet.py", line 33, in get_engine
    "Unable to find a usable engine; "
ImportError: Unable to find a usable engine; tried using: 'pyarrow', 'fastparquet'.
pyarrow or fastparquet is required for parquet support
```

#### Expected Output

The message should state the real cause of the error, namely an incompatible version of pyarrow. Like:

```
  File "[...]\lib\site-packages\pandas\io\parquet.py", line 40, in get_engine
    return PyArrowImpl()
  File "[...]\lib\site-packages\pandas\io\parquet.py", line 75, in __init__
    "pyarrow", extra="pyarrow is required for parquet support."
  File "[...]\lib\site-packages\pandas\compat\_optional.py", line 109, in import_optional_dependency
    raise ImportError(msg)
ImportError: Pandas requires version '0.13.0' or newer of 'pyarrow' (version '0.11.1' currently installed).
```

This helpful error message does in fact get generated at a lower level in `pandas.compat._optional.import_optional_dependency()`, but then gets swallowed when its client `pandas.io.parquet.get_engine(engine="auto")` raises a new `ImportError` from scratch. 

#### Output of ``pd.show_versions()``

<details>

INSTALLED VERSIONS
------------------
commit           : None
python           : 3.7.7.final.0
python-bits      : 64
OS               : Windows
OS-release       : 10
machine          : AMD64
processor        : Intel64 Family 6 Model 61 Stepping 4, GenuineIntel
byteorder        : little
LC_ALL           : None
LANG             : en_US.UTF-8
LOCALE           : None.None

pandas           : 1.0.3
numpy            : 1.18.1
pytz             : 2019.3
dateutil         : 2.8.1
pip              : 20.0.2
setuptools       : 46.1.3.post20200330
Cython           : None
pytest           : None
hypothesis       : None
sphinx           : None
blosc            : None
feather          : None
xlsxwriter       : None
lxml.etree       : None
html5lib         : None
pymysql          : None
psycopg2         : None
jinja2           : None
IPython          : None
pandas_datareader: None
bs4              : None
bottleneck       : None
fastparquet      : None
gcsfs            : None
lxml.etree       : None
matplotlib       : None
numexpr          : None
odfpy            : None
openpyxl         : 3.0.3
pandas_gbq       : None
pyarrow          : 0.11.1
pytables         : None
pytest           : None
pyxlsb           : None
s3fs             : None
scipy            : 1.4.1
sqlalchemy       : None
tables           : None
tabulate         : None
xarray           : None
xlrd             : None
xlwt             : None
xlsxwriter       : None
numba            : None

</details>
