[PR description] Rethink or at least re-run

### TL;DR

I understand the intention of the PR description check, but it's actually quite annoying for small changes. For example, https://github.com/abcxyz/infra-github/pull/196 is very self-explanatory. The original commit and title of the PR was "Archive customer-engineering-poc (no longer used)". There didn't seem to be a need for a PR description that wasn't purely duplicative with the title. But the check failed...

Nonetheless, I moved the "no longer used" part into the PR description, but **that doesn't trigger the check to re-run**. So if you omit a PR description, you're left manually re-running the workflow, which feels really less than ideal.

My suggestion is that we use [PR Templates](https://docs.github.com/en/communities/using-templates-to-encourage-useful-issues-and-pull-requests/creating-a-pull-request-template-for-your-repository) instead of this GitHub Action to achieve the same intent. Or at the very least, reduce this to a warning instead of a blocking error.

### Expected behavior

_No response_

### Observed behavior

_No response_

### Environment Details

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GitHub Actions
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### Additional information

_No response_