If you go to Forums & Moderators > Forum Permissions, and edit the permissions for "Unregistered / Not Logged In" and set "Can View Thread Content" to no, then if a guest tries to click to view a thread to will give them the log in screen, and a link to register. That's not quite the same as going to the registration screen, but maybe you can modify the STANDARD_ERROR template to make the "register" link more visible? Otherwise you'd need a mod of some kind.
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