multiple interpolations in stepResult substitution should be allowed

[ericzzzzzzz]

Expected Behavior

• multiple interpolations in stepResult substitution should be allowed in Env, command, args in a step, take environment variable substitutions as an example, key1=$(step.<step-name>.results.result1)-$(steps.<step-name>.results.result2), should be resolved to key1=value1-value2

Actual Behavior

• current it throws an error
  {"level":"error","ts":1710775011.3269901,"caller":"entrypoint/entrypointer.go:206","msg":"Error while substituting step results: must be one of the form 1). \"tasks.<taskName>.results.<resultName>\"; 2). \"tasks.<taskName>.results.<objectResultName>.<individualAttribute>\"; 3). \"steps.<stepName>.results.<resultName>\"; 4). \"steps.<stepName>.results.<objectResultName>.<individualAttribute>\"","stacktrace":"github.com/tektoncd/pipeline/pkg/entrypoint.Entrypointer.Go\n\tgithub.com/tektoncd/pipeline/pkg/entrypoint/entrypointer.go:206\nmain.main\n\tgithub.com/tektoncd/pipeline/cmd/entrypoint/main.go:178\nruntime.main\n\truntime/proc.go:267"}

Steps to Reproduce the Problem

1. return on enable-step-actions feature flag
2. create this taskRun

   apiVersion: tekton.dev/v1alpha1
kind: StepAction
metadata:
  name: step-action
spec:
  image: alpine
  results:
    - name: result1
    - name: result2
  script: |
    echo "I am a Step Action!!!" >> $(step.results.result1.path)
    echo "I am a hidden step action!!!" >> $(step.results.result2.path)
---
apiVersion: tekton.dev/v1
kind: TaskRun
metadata:
  name: step-action-run
spec:
  TaskSpec:
    results:
      - name: step-result
        value: $(steps.action-runner.results.result1)
    steps:
      - name: action-runner
        ref:
          name: step-action
      - name: test-multiple-interpolations
        image: busybox
        command:
          - "echo"
          - "$(steps.action-runner.results.result1)-$(steps.action-runner.results.result2)"

**Tekton pipeline Version **
v0.57

[ericzzzzzzz]

/assign ericzzzzzzz