Allow 'servet.path' with path pattern parser

Remove the restriction previously prevented `spring.mvc.servlet.path`
from being combined with a `spring.mvc.pathmatch.matching-strategy`
of `PATH_PATTERN_PARSER`. Spring Framework supports this combination
as of v5.3.4.

See gh-24805

spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/WebMvcProperties.java

@@ -251,10 +251,6 @@ public class WebMvcProperties {
 				throw new IncompatibleConfigurationException("spring.mvc.pathmatch.matching-strategy",
 						"spring.mvc.pathmatch.use-registered-suffix-pattern");
 			}
-			if (!this.getServlet().getServletMapping().equals("/")) {
-				throw new IncompatibleConfigurationException("spring.mvc.pathmatch.matching-strategy",
-						"spring.mvc.servlet.path");
-			}
 		}
 	}