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Optimize UrlPathHelper configuration for Spring MVC
Prior to this commit, Spring Boot would auto-configure Spring MVC and would keep the default `UrlPathHelper` configuration. Since Spring Boot is in charge of configuring the `DispatcherServlet` and its mapping, it is in a position to optimally configure the `UrlPathHelper` depending on the chosen mapping. This commit sets the `alwaysUseFullPath` property of `UrlPathHelper` if the Servlet mapping is `"/"`. This is more efficient since this configuration requires less processing of the request path. Closes gh-21499
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