Using springdoc with the Actuator integration causes a deprecation warning

[Okeanos]

Describe the bug

Steps to reproduce the behavior:

• What version of spring-boot you are using? Spring Boot 3.0.1, however, this warning is issued since 2.1.0.
• What modules and versions of springdoc-openapi are you using? Springdoc version 2.0.2 with springdoc-openapi-starter-webmvc-ui
• What is the actual and the expected result using OpenAPI Description (yml or json)? not applicable

When using the default configuration for springdoc for the actuator integration a deprecation warning is triggered that complains about invalid characters.

To Reproduce

application.yml

springdoc:
  api-docs:
    enabled: true
  swagger-ui:
    enabled: true
  show-actuator: true
  use-management-port: true

management:
  endpoints:
    enabled-by-default: true
    web:
      exposure:
        include: [ "openapi", "swagger-ui" ]

WARN o.s.boot.actuate.endpoint.EndpointId     : Endpoint ID 'swagger-ui' contains invalid characters, please migrate to a valid format.

Expected behavior

No warning should be issued.

[chillosu]

Seeing this as well.

[bnasslahsen]

@Okeanos and @chillosu,

Yes, aware of it. Not blocking at the moment.
This is related to #1603