That's why we have committers. It's been said, but I'll repeat: As committers, I know it's mundane, but we really need to make sure the commit and PR messages will be helpful to someone who looks at them in the future.
But it would help the committer by at least assuring that there is something in the three sections. And it will help to develop better habits by the people who currently submit PRs with totally inadequate description.
Remember when the coding style checks were a big hurdle for us (around last February). It felt like it was going to sink us and that we might have to back off from those checks. But we stuck with it and now it is not such a big issue. That is partly because more code now follows the coding standard, but also because contributors are better informed and have developed better habits because of the PR checks
I think we can do the same for PR and commit comments.