Re-authenticating to an org with an expired token should be easier

[randi274]

Is your feature request related to a problem? Please describe.
When I haven't used a certain project for a while and try to run a command to interact with the stored org, I'll receive the message: "Error authenticating to org" because the access token has expired. I'm not provided any additional steps on how to fix that, the command just doesn't run.

Describe the solution you'd like
If I'm using a persistent org, I'd like there to be a prompt to reauthenticate. Pressing that button would launch the login screen for Salesforce, and pass in the email address I had saved as my default org. When I successfully complete login, that same org will be set as my default and no new alias will be added.

Describe alternatives you've considered
The workaround for this is to run the "Authorize an Org" command. This gets messy if I add another alias, because the previously stored alias is what will be displayed (since it's first in the list).

[randi274]

This could also address confusion around issues like #3750 where a refreshed sandbox also needs a re-auth in order to continue working in that environment.