PIP PRs title should be auto-checked according to guidelines

### Search before asking

- [X] I searched in the [issues](https://github.com/apache/pulsar/issues) and found nothing similar.

### Motivation

Today when a person contributes a PIP, it is done through a PR.
The guidelines dicates that the PR title should be look like:

[improve][pip] PIP-xxx: {short description}

xxx being a 3 digit number

Unfortunately people forget those rules and when you you browse through the PIPs using PIP label, it's hard to know the PIP number sometimes because somebody forgot to follow the title guidelines.

### Solution

Have a GitHub action which adds a failed status if the PR title fails to match the pattern described above, if the PR adds a new file to "pip" folder.

If we can check that the number xxx also matches the filename which should be pip-xxx-....md, it would be even better

### Alternatives

Comment manually by PMC/Committers.

### Anything else?

_No response_

### Are you willing to submit a PR?

- [ ] I'm willing to submit a PR!