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-pipeline.
I've updated the docs based on this comment
Checklist
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make -j4 test
(UNIX), orvcbuild test
(Windows) passes -
tests and/or benchmarks are included -
documentation is changed or added -
commit message follows commit guidelines