Springfox doesn't support PathPatternParser, according to https://github.com/spring-projects/spring-boot/wiki/Spring-Boot-2.6-Release-Notes#pathpattern-based-path-matching-strategy-for-spring-mvc, we can set spring.mvc.pathmatch.matching-strategy=ant-path-matcher to revert the changes, It works fine.
but it fails if spring-boot-starter-actuator present, I guess it cause by actuator endpoints do not respect spring.mvc.pathmatch.matching-strategy:
The actuator endpoints now also use PathPattern based URL matching.
see https://github.com/springfox/springfox/issues/3934
Comment From: wilkinsona
This has been a known limitation of Springfox for over a year. Unfortunately, we can't continue to make compromises in Boot to maintain compatibility with a library that doesn't appear to be maintained any more. As suggested by @hpoettker, I've updated the release notes to mention the compatibility problem and link to the Springfox issue.