doc: edit guide on pull requests

* Replace _PR_ with Pull Request
* Make some content more concise

PR-URL: https://github.com/nodejs/node/pull/39359


Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Gireesh Punathil <gpunathi@in.ibm.com>
Reviewed-By: Tobias Nießen <tniessen@tnie.de>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Zeyu Yang <himself65@outlook.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>