Broken estimator_ attribute on some ensemble models

### Describe the bug

Several ensemble models raise an error when trying to access the existing `estimator_` attribute.

The problem is that this `property` tries to access `self._estimator`, which is set by `sklearn.ensemble.BaseEnsemble._validate_estimator`, but that method is not called by all subclasses.

https://github.com/scikit-learn/scikit-learn/blob/4c8813e5771ff28eb0384bc0b495e47b4cdc4b16/sklearn/ensemble/_base.py#L151

For `VotingClassifier` and `VotingRegressor`, it's understandable IMO, but the error message could be better. For gradient boosting, `estimator_` could return something useful.

More as a reminder to myself, `_validate_estimator` is being rewritten in #24250 to return the estimator instead of setting it inplace.

### Steps/Code to Reproduce

```python
import sklearn.ensemble
from sklearn.neighbors import KNeighborsClassifier, KNeighborsRegressor

estimators = [
    sklearn.ensemble.AdaBoostClassifier(),
    sklearn.ensemble.AdaBoostRegressor(),
    sklearn.ensemble.BaggingClassifier(),
    sklearn.ensemble.BaggingRegressor(),
    sklearn.ensemble.ExtraTreesClassifier(),
    sklearn.ensemble.ExtraTreesRegressor(),
    sklearn.ensemble.GradientBoostingClassifier(),
    sklearn.ensemble.GradientBoostingRegressor(),
    sklearn.ensemble.HistGradientBoostingClassifier(),
    sklearn.ensemble.HistGradientBoostingRegressor(),
    sklearn.ensemble.RandomForestClassifier(),
    sklearn.ensemble.RandomForestRegressor(),
    sklearn.ensemble.VotingClassifier([('5', KNeighborsClassifier(5)), ('10', KNeighborsClassifier(10))]),
    sklearn.ensemble.VotingRegressor([('5', KNeighborsRegressor(5)), ('10', KNeighborsRegressor(10))]),
]

X, y = [[1], [2]], [0, 1]

msg = "Got {} error when trying to access .estimator_ in {}"
for estimator in estimators:
    estimator.fit(X, y)
    try:
        estimator.estimator_
    except Exception as e:
        print(msg.format(e.__class__.__name__, estimator.__class__.__name__))
```

### Expected Results

No error is printed.

### Actual Results

```
Got AttributeError error when trying to access .estimator_ in GradientBoostingClassifier
Got AttributeError error when trying to access .estimator_ in GradientBoostingRegressor
Got AttributeError error when trying to access .estimator_ in HistGradientBoostingClassifier
Got AttributeError error when trying to access .estimator_ in HistGradientBoostingRegressor
Got AttributeError error when trying to access .estimator_ in VotingClassifier
Got AttributeError error when trying to access .estimator_ in VotingRegressor
```

### Versions

```shell
System:
    python: 3.10.9 | packaged by conda-forge | (main, Feb  2 2023, 20:20:04) [GCC 11.3.0]
executable: /home/name/anaconda3/envs/skops/bin/python
   machine: Linux-5.15.0-60-generic-x86_64-with-glibc2.35

Python dependencies:
      sklearn: 1.2.0
          pip: 22.3.1
   setuptools: 65.5.1
        numpy: 1.23.5
        scipy: 1.9.3
       Cython: None
       pandas: 1.5.3
   matplotlib: 3.6.3
       joblib: 1.2.0
threadpoolctl: 3.1.0

Built with OpenMP: True

threadpoolctl info:
       user_api: blas
   internal_api: openblas
         prefix: libopenblas
       filepath: /home/name/anaconda3/envs/skops/lib/libopenblasp-r0.3.21.so
        version: 0.3.21
threading_layer: pthreads
   architecture: Haswell
    num_threads: 8

       user_api: openmp
   internal_api: openmp
         prefix: libgomp
       filepath: /home/name/anaconda3/envs/skops/lib/libgomp.so.1.0.0
        version: None
    num_threads: 8
```

COMMENT:
This is a side effect of the deprecation of base_estimator. It will be resolved by itself in 1.4 when the deprecation cycle ends. I opened https://github.com/scikit-learn/scikit-learn/pull/25668 to fix the error message in the meantime

Labels: Bug, module:ensemble