doc: replace node-test-pull-request-lite-pipeline from onboarding

Replace the obsolete node-test-pull-request-lite-pipeline CI
task in favour of node-test-pull-request.

PR-URL: https://github.com/nodejs/node/pull/32736


Reviewed-By: Richard Lau <riclau@uk.ibm.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Zeyu Yang <himself65@outlook.com>