Revert: upgrade path-to-regexp

[yyanwang]

What is the problem this PR is trying to solve?
Last version should be published as a major version, because there's breaking change in sagaRouter.

What is the chosen solution to this problem?
Revert upgrade of path-to-regexp first and then add back the changes and publish a major version.

Please check if the PR fulfills these requirements

• The PR have used yarn changeset to a request a release from the CI if wanted.
• The PR commit message follows our guidelines
• Tests for the changes have been added (for bug fixes / features) And non reg done before need review
• Docs have been added / updated (for bug fixes / features)
• Related design / discussions / pages (not in jira), if any, are all linked or available in the PR

[ ] This PR introduces a breaking change

[github-actions]

Storybook for this PR deployed on this github page

[github-actions]

Title	Lines	Statements	Branches	Functions
assets-api		28.4% (25/88)	30.76% (16/52)	21.42% (3/14)
cmf		89.18% (1237/1387)	80.88% (605/748)	89.28% (350/392)
cmf-cqrs		87.43% (160/183)	70.23% (59/84)	84.21% (48/57)
cmf-router		69.23% (135/195)	55.71% (78/140)	56.81% (25/44)
components		90.8% (5527/6087)	81.84% (3206/3917)	88.14% (1390/1577)
containers		83.59% (1391/1664)	74.3% (694/934)	75% (327/436)
dataviz		85.44% (323/378)	66.66% (160/240)	75.79% (119/157)
design-system		66.49% (1016/1528)	50.93% (544/1068)	53.94% (219/406)
faceted-search		85.08% (639/751)	78.63% (287/365)	81.88% (226/276)
flow-designer		70.07% (651/929)	66.72% (355/532)	70.92% (200/282)
forms		85.81% (1640/1911)	75.77% (929/1226)	84.24% (460/546)
http		100% (85/85)	98.07% (51/52)	100% (34/34)
sagas		92.3% (24/26)	66.66% (4/6)	50% (2/4)
stepper		81.52% (150/184)	59.34% (54/91)	80.85% (38/47)
utils		100% (73/73)	90.9% (10/11)	100% (24/24)