[BUG] Data passed to highstate outputter is not a valid highstate return: {} when a child orchestration is not executed due requisites not satisfied

Description
The following error is shown

2023-11-30 23:27:07,981 [salt.loaded.int.output.highstate:330 ][ERROR   ][802069] Data passed to highstate outputter is not a valid highstate return: {}

when calling a "child" state.orch runner (other runners modules are ok) with salt.runner from an orchestration with
requisites like require, onchanges and onfail when the requisite is not satisfied, in other words this child orchestration is not executed

Examples:

• require on a state that the referred state failed
• onfail on a state that the referred state succeeded
• onchanges on a state that the referred state does not changed

Here you go a minimal orchestration to reproduce the error

sample_state:
  test.configurable_test_state:
    - changes: False
    - result: True

another_state:
    salt.runner:
    - name: state.orch
    - mods: some_orch_state # This does not even need to be real, even a fake path like this produces the same error
    - onfail:
      - sample_state

The onfail can be replaced by require or onchanges and tweak sample_state result or changes accordingly to get the same error.

The code throwing this error seems to be here
https://github.com/saltstack/salt/blob/master/salt/output/highstate.py#L328C12-L333C19

Steps to Reproduce the behavior
Run the provided orchestration to get the error

Expected behavior
To my understanding, this should not be shown as an error.

Versions Report
3006

Start at salt/output/highstate.py around lines 328-333 and run the minimal orchestration from the issue with an unsatisfied onfail, require, or onchanges requisite. Trace how the skipped child state.orch result reaches the highstate outputter; done means the valid orchestration result no longer emits the shown error when the child is not executed.