stream: simplify pipeline

PR-URL: https://github.com/nodejs/node/pull/31316


Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Minwoo Jung <nodecorelab@gmail.com>