diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 760b63bf..328fec27 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -75,8 +75,6 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        # nightly has an ICE, so ignore it for now
-        # rust: [stable, beta, nightly]
         rust: [stable, beta]
     steps:
     - uses: actions/checkout@master
@@ -92,6 +90,23 @@ jobs:
         command: test
         args: --all --all-features --all-targets
 
+  test-nightly:
+    needs: check
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@master
+    - uses: actions-rs/toolchain@v1
+      with:
+        # same as `axum-macros/rust-toolchain`
+        toolchain: nightly-2022-11-18
+        override: true
+        profile: minimal
+    - uses: Swatinem/rust-cache@v1
+    - name: Run nightly tests
+      working-directory: axum-macros
+      run: |
+        cargo test
+
   # some examples doesn't support our MSRV (such as async-graphql)
   # so we only test axum itself on our MSRV
   test-msrv:
diff --git a/axum-core/Cargo.toml b/axum-core/Cargo.toml
index fb173cb6..dbe5346c 100644
--- a/axum-core/Cargo.toml
+++ b/axum-core/Cargo.toml
@@ -21,6 +21,9 @@ mime = "0.3.16"
 tower-layer = "0.3"
 tower-service = "0.3"
 
+[build-dependencies]
+rustversion = "1.0.9"
+
 [dev-dependencies]
 axum = { path = "../axum", version = "0.6.0-rc.2" }
 futures-util = "0.3"
diff --git a/axum-core/build.rs b/axum-core/build.rs
new file mode 100644
index 00000000..b52885c6
--- /dev/null
+++ b/axum-core/build.rs
@@ -0,0 +1,7 @@
+#[rustversion::nightly]
+fn main() {
+    println!("cargo:rustc-cfg=nightly_error_messages");
+}
+
+#[rustversion::not(nightly)]
+fn main() {}
diff --git a/axum-core/src/extract/mod.rs b/axum-core/src/extract/mod.rs
index 83b7e6fe..2eb37ea4 100644
--- a/axum-core/src/extract/mod.rs
+++ b/axum-core/src/extract/mod.rs
@@ -39,6 +39,12 @@ mod private {
 ///
 /// [`axum::extract`]: https://docs.rs/axum/0.6.0-rc.2/axum/extract/index.html
 #[async_trait]
+#[cfg_attr(
+    nightly_error_messages,
+    rustc_on_unimplemented(
+        note = "Function argument is not a valid axum extractor. \nSee `https://docs.rs/axum/latest/axum/extract/index.html` for details",
+    )
+)]
 pub trait FromRequestParts<S>: Sized {
     /// If the extractor fails it'll use this "rejection" type. A rejection is
     /// a kind of error that can be converted into a response.
@@ -102,6 +108,12 @@ pub trait FromRequestParts<S>: Sized {
 /// [`http::Request<B>`]: http::Request
 /// [`axum::extract`]: https://docs.rs/axum/0.6.0-rc.2/axum/extract/index.html
 #[async_trait]
+#[cfg_attr(
+    nightly_error_messages,
+    rustc_on_unimplemented(
+        note = "Function argument is not a valid axum extractor. \nSee `https://docs.rs/axum/latest/axum/extract/index.html` for details",
+    )
+)]
 pub trait FromRequest<S, B, M = private::ViaRequest>: Sized {
     /// If the extractor fails it'll use this "rejection" type. A rejection is
     /// a kind of error that can be converted into a response.
diff --git a/axum-core/src/lib.rs b/axum-core/src/lib.rs
index 52a382dc..974e5e18 100644
--- a/axum-core/src/lib.rs
+++ b/axum-core/src/lib.rs
@@ -1,3 +1,4 @@
+#![cfg_attr(nightly_error_messages, feature(rustc_attrs))]
 //! Core types and traits for [`axum`].
 //!
 //! Libraries authors that want to provide [`FromRequest`] or [`IntoResponse`] implementations
diff --git a/axum-macros/rust-toolchain b/axum-macros/rust-toolchain
new file mode 100644
index 00000000..8141c9d1
--- /dev/null
+++ b/axum-macros/rust-toolchain
@@ -0,0 +1 @@
+nightly-2022-11-18
diff --git a/axum-macros/src/debug_handler.rs b/axum-macros/src/debug_handler.rs
index 74366aa4..ea685e09 100644
--- a/axum-macros/src/debug_handler.rs
+++ b/axum-macros/src/debug_handler.rs
@@ -251,11 +251,11 @@ fn check_inputs_impls_from_request(
             };
 
             let from_request_bound = if must_impl_from_request_parts {
-                quote! {
+                quote_spanned! {span=>
                     #ty: ::axum::extract::FromRequestParts<#state_ty> + Send
                 }
             } else {
-                quote! {
+                quote_spanned! {span=>
                     #ty: ::axum::extract::FromRequest<#state_ty, #body_ty, M> + Send
                 }
             };
diff --git a/axum-macros/src/lib.rs b/axum-macros/src/lib.rs
index 217350f6..43741ddf 100644
--- a/axum-macros/src/lib.rs
+++ b/axum-macros/src/lib.rs
@@ -699,7 +699,7 @@ where
 
 #[cfg(test)]
 fn run_ui_tests(directory: &str) {
-    #[rustversion::stable]
+    #[rustversion::nightly]
     fn go(directory: &str) {
         let t = trybuild::TestCases::new();
 
@@ -725,7 +725,7 @@ fn run_ui_tests(directory: &str) {
         }
     }
 
-    #[rustversion::not(stable)]
+    #[rustversion::not(nightly)]
     fn go(_directory: &str) {}
 
     go(directory);
diff --git a/axum-macros/tests/debug_handler/fail/argument_not_extractor.stderr b/axum-macros/tests/debug_handler/fail/argument_not_extractor.stderr
index 15281ee2..0afef5f2 100644
--- a/axum-macros/tests/debug_handler/fail/argument_not_extractor.stderr
+++ b/axum-macros/tests/debug_handler/fail/argument_not_extractor.stderr
@@ -4,6 +4,8 @@ error[E0277]: the trait bound `bool: FromRequestParts<()>` is not satisfied
 4 | async fn handler(foo: bool) {}
   |                       ^^^^ the trait `FromRequestParts<()>` is not implemented for `bool`
   |
+  = note: Function argument is not a valid axum extractor.
+          See `https://docs.rs/axum/latest/axum/extract/index.html` for details
   = help: the following other types implement trait `FromRequestParts<S>`:
             <() as FromRequestParts<S>>
             <(T1, T2) as FromRequestParts<S>>
@@ -16,10 +18,7 @@ error[E0277]: the trait bound `bool: FromRequestParts<()>` is not satisfied
           and 25 others
   = note: required for `bool` to implement `FromRequest<(), Body, axum_core::extract::private::ViaParts>`
 note: required by a bound in `__axum_macros_check_handler_0_from_request_check`
- --> tests/debug_handler/fail/argument_not_extractor.rs:3:1
+ --> tests/debug_handler/fail/argument_not_extractor.rs:4:23
   |
-3 | #[debug_handler]
-  | ^^^^^^^^^^^^^^^^ required by this bound in `__axum_macros_check_handler_0_from_request_check`
 4 | async fn handler(foo: bool) {}
-  |                       ---- required by a bound in this
-  = note: this error originates in the attribute macro `debug_handler` (in Nightly builds, run with -Z macro-backtrace for more info)
+  |                       ^^^^ required by this bound in `__axum_macros_check_handler_0_from_request_check`
diff --git a/axum-macros/tests/debug_handler/fail/doesnt_implement_from_request_parts.stderr b/axum-macros/tests/debug_handler/fail/doesnt_implement_from_request_parts.stderr
index 03803249..9614cf4e 100644
--- a/axum-macros/tests/debug_handler/fail/doesnt_implement_from_request_parts.stderr
+++ b/axum-macros/tests/debug_handler/fail/doesnt_implement_from_request_parts.stderr
@@ -1,9 +1,11 @@
 error[E0277]: the trait bound `String: FromRequestParts<()>` is not satisfied
- --> tests/debug_handler/fail/doesnt_implement_from_request_parts.rs:4:1
+ --> tests/debug_handler/fail/doesnt_implement_from_request_parts.rs:5:21
   |
-4 | #[debug_handler]
-  | ^^^^^^^^^^^^^^^^ the trait `FromRequestParts<()>` is not implemented for `String`
+5 | async fn handler(_: String, _: Method) {}
+  |                     ^^^^^^ the trait `FromRequestParts<()>` is not implemented for `String`
   |
+  = note: Function argument is not a valid axum extractor.
+          See `https://docs.rs/axum/latest/axum/extract/index.html` for details
   = help: the following other types implement trait `FromRequestParts<S>`:
             <() as FromRequestParts<S>>
             <(T1, T2) as FromRequestParts<S>>
@@ -15,4 +17,4 @@ error[E0277]: the trait bound `String: FromRequestParts<()>` is not satisfied
             <(T1, T2, T3, T4, T5, T6, T7, T8) as FromRequestParts<S>>
           and 25 others
   = help: see issue #48214
-  = note: this error originates in the attribute macro `debug_handler` (in Nightly builds, run with -Z macro-backtrace for more info)
+  = help: add `#![feature(trivial_bounds)]` to the crate attributes to enable
diff --git a/axum-macros/tests/debug_handler/fail/not_send.stderr b/axum-macros/tests/debug_handler/fail/not_send.stderr
index 3e9019cf..fd5d91e8 100644
--- a/axum-macros/tests/debug_handler/fail/not_send.stderr
+++ b/axum-macros/tests/debug_handler/fail/not_send.stderr
@@ -1,8 +1,11 @@
 error: future cannot be sent between threads safely
  --> tests/debug_handler/fail/not_send.rs:4:1
   |
-4 | async fn handler() {
-  | ^^^^^ future returned by `handler` is not `Send`
+4 | / async fn handler() {
+5 | |     let rc = std::rc::Rc::new(());
+6 | |     async {}.await;
+7 | | }
+  | |_^ future returned by `handler` is not `Send`
   |
   = help: within `impl Future<Output = ()>`, the trait `Send` is not implemented for `Rc<()>`
 note: future is not `Send` as this value is used across an await
@@ -17,5 +20,8 @@ note: future is not `Send` as this value is used across an await
 note: required by a bound in `check`
  --> tests/debug_handler/fail/not_send.rs:4:1
   |
-4 | async fn handler() {
-  | ^^^^^ required by this bound in `check`
+4 | / async fn handler() {
+5 | |     let rc = std::rc::Rc::new(());
+6 | |     async {}.await;
+7 | | }
+  | |_^ required by this bound in `check`
diff --git a/axum-macros/tests/from_request/fail/generic_without_via.stderr b/axum-macros/tests/from_request/fail/generic_without_via.stderr
index a943a54f..760d36e9 100644
--- a/axum-macros/tests/from_request/fail/generic_without_via.stderr
+++ b/axum-macros/tests/from_request/fail/generic_without_via.stderr
@@ -12,6 +12,7 @@ error[E0277]: the trait bound `fn(Extractor<()>) -> impl Future<Output = ()> {fo
     |                                          |
     |                                          required by a bound introduced by this call
     |
+    = note: Consider using `#[axum::debug_handler]` to improve the error message
     = help: the trait `Handler<T, S, B2>` is implemented for `Layered<L, H, T, S, B, B2>`
 note: required by a bound in `axum::routing::get`
    --> $WORKSPACE/axum/src/routing/method_routing.rs
diff --git a/axum-macros/tests/from_request/fail/generic_without_via_rejection.stderr b/axum-macros/tests/from_request/fail/generic_without_via_rejection.stderr
index 8d53346e..dd34af70 100644
--- a/axum-macros/tests/from_request/fail/generic_without_via_rejection.stderr
+++ b/axum-macros/tests/from_request/fail/generic_without_via_rejection.stderr
@@ -12,6 +12,7 @@ error[E0277]: the trait bound `fn(Extractor<()>) -> impl Future<Output = ()> {fo
     |                                          |
     |                                          required by a bound introduced by this call
     |
+    = note: Consider using `#[axum::debug_handler]` to improve the error message
     = help: the trait `Handler<T, S, B2>` is implemented for `Layered<L, H, T, S, B, B2>`
 note: required by a bound in `axum::routing::get`
    --> $WORKSPACE/axum/src/routing/method_routing.rs
diff --git a/axum-macros/tests/from_request/fail/override_rejection_on_enum_without_via.stderr b/axum-macros/tests/from_request/fail/override_rejection_on_enum_without_via.stderr
index 6b2b8bbe..7e7e9be4 100644
--- a/axum-macros/tests/from_request/fail/override_rejection_on_enum_without_via.stderr
+++ b/axum-macros/tests/from_request/fail/override_rejection_on_enum_without_via.stderr
@@ -12,6 +12,7 @@ error[E0277]: the trait bound `fn(MyExtractor) -> impl Future<Output = ()> {hand
     |                                              |
     |                                              required by a bound introduced by this call
     |
+    = note: Consider using `#[axum::debug_handler]` to improve the error message
     = help: the trait `Handler<T, S, B2>` is implemented for `Layered<L, H, T, S, B, B2>`
 note: required by a bound in `axum::routing::get`
    --> $WORKSPACE/axum/src/routing/method_routing.rs
@@ -28,6 +29,7 @@ error[E0277]: the trait bound `fn(Result<MyExtractor, MyRejection>) -> impl Futu
     |                                                           |
     |                                                           required by a bound introduced by this call
     |
+    = note: Consider using `#[axum::debug_handler]` to improve the error message
     = help: the trait `Handler<T, S, B2>` is implemented for `Layered<L, H, T, S, B, B2>`
 note: required by a bound in `MethodRouter::<S, B>::post`
    --> $WORKSPACE/axum/src/routing/method_routing.rs
diff --git a/axum-macros/tests/from_request/fail/parts_extracting_body.stderr b/axum-macros/tests/from_request/fail/parts_extracting_body.stderr
index 32341828..63062d42 100644
--- a/axum-macros/tests/from_request/fail/parts_extracting_body.stderr
+++ b/axum-macros/tests/from_request/fail/parts_extracting_body.stderr
@@ -4,6 +4,8 @@ error[E0277]: the trait bound `String: FromRequestParts<S>` is not satisfied
 5 |     body: String,
   |           ^^^^^^ the trait `FromRequestParts<S>` is not implemented for `String`
   |
+  = note: Function argument is not a valid axum extractor.
+          See `https://docs.rs/axum/latest/axum/extract/index.html` for details
   = help: the following other types implement trait `FromRequestParts<S>`:
             <() as FromRequestParts<S>>
             <(T1, T2) as FromRequestParts<S>>
diff --git a/axum/Cargo.toml b/axum/Cargo.toml
index 7cb9de12..06d73f04 100644
--- a/axum/Cargo.toml
+++ b/axum/Cargo.toml
@@ -63,6 +63,9 @@ sha-1 = { version = "0.10", optional = true }
 tokio = { package = "tokio", version = "1.21", features = ["time"], optional = true }
 tokio-tungstenite = { version = "0.17.2", optional = true }
 
+[build-dependencies]
+rustversion = "1.0.9"
+
 [dev-dependencies]
 anyhow = "1.0"
 futures = "0.3"
diff --git a/axum/build.rs b/axum/build.rs
new file mode 100644
index 00000000..b52885c6
--- /dev/null
+++ b/axum/build.rs
@@ -0,0 +1,7 @@
+#[rustversion::nightly]
+fn main() {
+    println!("cargo:rustc-cfg=nightly_error_messages");
+}
+
+#[rustversion::not(nightly)]
+fn main() {}
diff --git a/axum/src/handler/mod.rs b/axum/src/handler/mod.rs
index fe76f9bd..6a2df1e6 100644
--- a/axum/src/handler/mod.rs
+++ b/axum/src/handler/mod.rs
@@ -94,6 +94,12 @@ pub use self::service::HandlerService;
 /// {}
 /// ```
 #[doc = include_str!("../docs/debugging_handler_type_errors.md")]
+#[cfg_attr(
+    nightly_error_messages,
+    rustc_on_unimplemented(
+        note = "Consider using `#[axum::debug_handler]` to improve the error message"
+    )
+)]
 pub trait Handler<T, S, B = Body>: Clone + Send + Sized + 'static {
     /// The type of future calling this handler returns.
     type Future: Future<Output = Response> + Send + 'static;
diff --git a/axum/src/lib.rs b/axum/src/lib.rs
index 60c33834..5d2a8de0 100644
--- a/axum/src/lib.rs
+++ b/axum/src/lib.rs
@@ -1,3 +1,4 @@
+#![cfg_attr(nightly_error_messages, feature(rustc_attrs))]
 //! axum is a web application framework that focuses on ergonomics and modularity.
 //!
 //! # Table of contents