Looks like this limitation is clearly documented.
One workaround would be to maintain a custom field (may be a picklist or a Boolean ) and trigger off based on that and publish an article based on the custom field value.
If you are on classic lightning this would mean a field on Evey article type and hence lightning migration might be something to plan.
Just to add another option - you can use Approval processes on Knowledge.
This would require that everyone "submit for approval" instead of "publish" (you can hide the button).
It asks for certain criteria to require the approval, else Approve. In your case, you'd essentially just be auto-approving everything.
From here, you can set up actions to take ...