stream: pipeline should only destroy un-finished streams

This PR logically reverts https://github.com/nodejs/node/pull/31940
which has caused lots of unnecessary breakage in the ecosystem.

This PR also aligns better with the actual documented behavior:

`stream.pipeline()` will call `stream.destroy(err)` on all streams
except:
  * `Readable` streams which have emitted `'end'` or `'close'`.
  * `Writable` streams which have emitted `'finish'` or `'close'`.

The behavior introduced in https://github.com/nodejs/node/pull/31940
was much more aggressive in terms of destroying streams. This was
good for avoiding potential resources leaks however breaks some
common assumputions in legacy streams.

Furthermore, it makes the code simpler and removes some hacks.

Fixes: https://github.com/nodejs/node/issues/32954
Fixes: https://github.com/nodejs/node/issues/32955

PR-URL: https://github.com/nodejs/node/pull/32968


Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Mathias Buus <mathiasbuus@gmail.com>