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Add `toAdditionalPaths(...)` methods on the servlet and reactive `EndpointRequest` classes to support matching of additional paths. A new `AdditionalPathsMapper` interface provides the mappings between endpoint IDs and any additional paths that they might use. The existing `AutoConfiguredHealthEndpointGroups` class has been updated to implement the interface. Auto-configurations have also been updated so that additional health endpoint paths (typically `/livez` and `/readyz`) are permitted when using Spring Security without any custom configuration. Fixes gh-40962