Warning thrown when RenderTexture has Depth Stencil Format set to None

Steps to reproduce:

1. Open the attached project

2. Observe the console

Manual steps:

1. Open a URP project
2. Create a Render Texture
3. Set its Depth Stencil Format to None
4. Select the Main Camera
5. Set its Output Texture to the RT from step 2
6. Observe the console

Note: This message appears even if the Camera has Depth Texture set to None

Note: This issue coincides with the change that enables Render Graph by default so perhaps the issue is the wording of the warning rather than the warning itself.

Actual results: A confusing warning is logged.

Trying to render to a rendertexture without a depth buffer. URP+RG needs a depthbuffer to render.
UnityEngine.Rendering.RenderPipelineManager:DoRenderLoop_Internal (UnityEngine.Rendering.RenderPipelineAsset,intptr,UnityEngine.Object,Unity.Collections.LowLevel.Unsafe.AtomicSafetyHandle) (at /Users/bokken/build/output/unity/unity/Runtime/Export/RenderPipeline/RenderPipelineManager.cs:148)

Expected results: Either no warning if it is not required or a better-phrased warning.

Reproducible with versions: 2023.3.0a18, 2023.3.0b7

Not reproducible with versions: 2023.3.0a17{}

Tested on (OS): Mac OS Sonoma 14.3