Pipeline throws TypeError on stateless transformers

### Describe the bug

In PR #26952 @thomasjpfan was hinting that transformers in a pipeline are allowed to be stateless. They are, but only if no other step of the pipeline implements a `fit()`.

However, if one of the steps implements a `fit`, the previous steps are expected to be stateful transformers, too. This is because `def _validate_steps()` (which checks the methods of all the steps in the pipeline) only checks the steps if `.fit()` is called.

Should `_validate_steps() ` be modified to be less strict about stateless transformers? And should it then also be run on `transform()`, and all the other possible methods?

### Steps/Code to Reproduce

```python
from sklearn.pipeline import Pipeline
from sklearn.linear_model import LinearRegression
import numpy as np

class DoubleIt:

    def transform(self, X, y=None):
        return 2*X

X = np.array([[1, 2, 3], [4, 5, 6]])
p = Pipeline([
            ('double1', DoubleIt()),
            ('double2', DoubleIt()),
            ('linreg', LinearRegression())     # same results with ('linreg', None), but not with "passthrough"
            ])

p.fit(X)
```

### Expected Results

No error is raised.

### Actual Results

```
Traceback (most recent call last):
  File "/home/stefanie/Python/scikit-learn_dev/scikit-learn/::::::::::::::::::::::::::::.py", line 126, in <module>
    p.fit(X)
  File "/home/stefanie/Python/scikit-learn_dev/scikit-learn/sklearn/base.py", line 1215, in wrapper
    return fit_method(estimator, *args, **kwargs)
  File "/home/stefanie/Python/scikit-learn_dev/scikit-learn/sklearn/pipeline.py", line 456, in fit
    Xt = self._fit(X, y, routed_params)
  File "/home/stefanie/Python/scikit-learn_dev/scikit-learn/sklearn/pipeline.py", line 372, in _fit
    self._validate_steps()
  File "/home/stefanie/Python/scikit-learn_dev/scikit-learn/sklearn/pipeline.py", line 242, in _validate_steps
    raise TypeError(
TypeError: All intermediate steps should be transformers and implement fit and transform or be the string 'passthrough' '<__main__.DoubleIt object at 0x7fd4b028f310>' (type <class '__main__.DoubleIt'>) doesn't
```

### Versions

```shell
System:
    python: 3.10.6 (main, Oct 10 2022, 12:43:33) [GCC 9.4.0]
executable: /home/stefanie/.pyenv/versions/3.10.6/envs/scikit-learn_dev/bin/python
   machine: Linux-5.15.0-78-generic-x86_64-with-glibc2.31

Python dependencies:
      sklearn: 1.4.dev0
          pip: 23.2.1
   setuptools: 63.2.0
        numpy: 1.24.3
        scipy: 1.10.1
       Cython: 0.29.34
       pandas: 2.0.1
   matplotlib: 3.7.1
       joblib: 1.2.0
threadpoolctl: 3.1.0

Built with OpenMP: True

threadpoolctl info:
       user_api: blas
   internal_api: openblas
         prefix: libopenblas
       filepath: /home/stefanie/.pyenv/versions/3.10.6/envs/scikit-learn_dev/lib/python3.10/site-packages/numpy.libs/libopenblas64_p-r0-15028c96.3.21.so
        version: 0.3.21
threading_layer: pthreads
   architecture: SkylakeX
    num_threads: 8

       user_api: blas
   internal_api: openblas
         prefix: libopenblas
       filepath: /home/stefanie/.pyenv/versions/3.10.6/envs/scikit-learn_dev/lib/python3.10/site-packages/scipy.libs/libopenblasp-r0-41284840.3.18.so
        version: 0.3.18
threading_layer: pthreads
   architecture: SkylakeX
    num_threads: 8

       user_api: openmp
   internal_api: openmp
         prefix: libgomp
       filepath: /usr/lib/x86_64-linux-gnu/libgomp.so.1.0.0
        version: None
    num_threads: 8
```

COMMENT:
> Can we improve the error message that you receive to tell you "This is not a valid estimator. Read https://scikit-learn.org/dev/developers/develop.html#estimators to learn how to implement one."? If we could distinguish the case of "this is far from being a valid estimator" and "this is a valid estimator but its missing stuff" we could have more actionable error messages for each case.

I am wondering if instead of trying to find if an estimator follows the API within the `Pipeline`, we should just improve the common test. Currently, I am reimplementing them (splitting the tests) and for the API, I would have the following [tests](https://github.com/glemaitre/scikit-learn-common-test/blob/main/sklearn_common_tests/_api/estimator.py) (in progress). For each failure, I would redirect to the developer guide section of the exact piece that does not qualify the estimator as a "compatible scikit-learn estimator".

Labels: Bug, module:pipeline