It depends what you mean by "all Jenkins nodes". Jenkins includes the concept of "permanent agents" which persist between jobs and ephemeral ("on-demand") agents that are created and destroyed as needed (most recently with Docker containers, though full virtual machines are used as well).
I assume you want to run your Pipeline script on all permanent agents.
The Elastic Axis plugin will allow a Freestyle job to run on all agents which match a label expression. The platformlabeler plugin will automatically apply labels to agents using information about the agent (for example, the operating system installed on the agent). I run Freestyle jobs on all the Linux and Windows agents in my build cluster with the Elastic Axis plugin and a label expression "linux || windows".
I think the same technique could be used in a Pipeline job, requesting the list of permanent agents, then creating a task for each of the agents in the list. I haven't done that yet (still using Elastic Axis and platformlabeler), but I think it should be possible.
Mark Waite