[RPG] way for a fighter to see or locate invisible objects without the use of magic items

First question: trigger

The character needs only to have at least one level of a class which can cast the spell. In this case a first level wizard will be able to trigger any wizard spell.

Second question: completion

From the SRD: Scrolls

To have any chance of activating a scroll spell, the scroll user must meet the following requirements.

• The spell must be of the correct type (arcane or divine). Arcane spellcasters (wizards, sorcerers, and bards) can only use scrolls containing arcane spells, and divine spellcasters (clerics, druids, paladins, and rangers) can only use scrolls containing divine spells. (The type of scroll a character creates is also determined by his class.)
• The user must have the spell on her class list.
• The user must have the requisite ability score. If the user meets all the requirements noted above, and her caster level is at least equal to the spell's caster level, she can automatically activate the spell without a check.

This means that the character must be a spell caster of the correct type (arcane or divine): so no a fighter will not be able to use a scroll.

If she meets all three requirements but her own caster level is lower than the scroll spell's caster level, then she has to make a caster level check (DC = scroll's caster level + 1) to cast the spell successfully.

In this case: yes a first level wizard will be able to try with any arcane scroll (if he has the required Int) but he will have to perform an appropriate caster level with the following consequences:

If she fails, she must make a DC 5 Wisdom check to avoid a mishap (see Scroll Mishaps). A natural roll of 1 always fails, whatever the modifiers. Activating a scroll is a standard action (or the spell's casting time, whichever is longer) and it provokes attacks of opportunity exactly as casting a spell does.

Use magic device

You can use this skill to read a spell or to activate a magic item. Use Magic Device lets you use a magic item as if you had the spell ability or class features of another class, as if you were a different race, or as if you were of a different alignment.

This allow to override the first condition: even if you are not of the correct class (or have the wrong alignment and so on) and you have the use magic device skill you can do a check and try anyway.

So in this case if your 20th level fighter is trained in use magic device: yes he can use a scroll

Well, if you don't mind making a pact with some powerful entity, you could get 2 levels of warlock. This will give you access to a few spells, some of which perhaps being interesting (both stats and flavor-wise) for your character. But most of all, this will give you access to 2 invocations.

One of these invocations should be Devil's Sight, which grants you the ability to see through any form of darkness, magical or otherwise, for up to 120 feet. This is more than enough to cover the 15 feet of the darkness spell. Cast it on your clothes, and bring terror to your enemies.

While this is a good strategy (generally favored by blade pact warlocks), it has some limitations. While under the effect of the darkness spell, your allies cannot see you. As such, any spell requiring line of sight that they would like to cast on you simply cannot work. Healing you might be problematic, as it requires your allies to be able to touch you. They might know that you are smack in the middle of that sphere of pure black darkness but, once they get inside, it's suddenly not so easy to find you anymore.

These limitations also affect your enemies, however. Any attack from the outside of the sphere should have disadvantage as your enemies, even if they can approximate your position, can't exactly see you to aim properly. Enemies inside the darkness should also suffer from disadvantage when attacking you, unless they possess some form of blindsight or a similar ability. When you attack them, you should have advantage on the roll since you are functionally invisible for them.

The biggest cost of this strategy is the fact that it requires multi-classing. While the lvl 19 and 20 abilities for monk would not really be missed (realistically, few campaigns will reach these levels), it will still set you back 2 levels in obtaining you other core monk powers. Note that doing this would get you 2 invocations, however, and that some of them can be quite interesting for a ninja-esque character:

• Armor of Shadows (cast mage armor at will, which might be better than using your wisdom for AC if its under 16),

• Eldritch Sight (cast detect magic at will),

• Eyes of the Runekeeper (allows you to read anything, even languages you don't know... useful for spying!),
• Gaze of Two Minds (share the eyes of a willing target, more spying!),
• Mask of Many Faces (disguise self at will!), etc...

TL;DR

Sacrifice 2 monk levels and multiclass as a warlock. Gain some minor but potentially useful spellcasting, as well as the ability to see through magical darkness and one more ability of your choice!