You are right that some active transitive sentences cannot be made passive:
He has lots of money. He resembles his father. Intransitive verbs cannot be made passive either:
John waited for an hour. I feel good today.
Nevertheless, if we correct your first sentence to "Paul hates to keep waiting" (which is a little unusual in occurrence, but certainly possible), then its passive form would be "Paul hates to be kept waiting". This is a case of active infinitive vs passive infinitive, however, not a transformation of the main, finite verb of the sentence (hate).