Bug: [no-useless-template-literals] Nested template literals contain useless one

[waynzh]

Before You File a Bug Report Please Confirm You Have Done The Following...

• I have tried restarting my IDE and the issue persists.
• I have updated to the latest version of the packages.
• I have searched for related issues and found none that matched my issue.
• I have read the FAQ and my problem is not listed.

Playground Link

https://typescript-eslint.io/play/#ts=5.3.3&fileType=.ts&code=MYewdgzgLgBGCuBbGBeGBGA3AKAAYEMASAb1wCMSFEBfM3a-XTIA&eslintrc=N4KABGBEBOCuA2BTAzpAXGUEKQAIBcBPABxQGNoBLY-AWhXkoDt8B6Jge1tmUSWWS18iALbF4AQ2G1Gw6BPioMkRNGgdokcGAC%2BIHUA&tsconfig=&tokens=false

Repro Code

const num = 1;
`a${`b${num}b`}a`;

ESLint Config

{
  "rules": {
    "@typescript-eslint/no-useless-template-literals": "error"
  }
}

tsconfig

No response

Expected Result

Should report and support autofix by removing the unnecessary template literals:

`ab${num}ba`

Actual Result

`a${`b${num}b`}a`

Additional Info

See #8575 (comment).
The valid case in that PR needs to be adjusted if it is merged.