import org.springframework.boot.web.embedded.tomcat.TomcatServletWebServerFactory;
import org.springframework.boot.web.server.WebServerFactoryCustomizer;
import org.springframework.boot.web.servlet.server.ConfigurableServletWebServerFactory;
import org.springframework.stereotype.Component;

@Component
public class EmbeddedTomcatConfig implements WebServerFactoryCustomizer<TomcatServletWebServerFactory> {
    @Override
    public void customize(TomcatServletWebServerFactory factory) {
        factory.addConnectorCustomizers(connector -> connector.setAttribute("relaxedQueryChars", "[]"));
    }
}

不生效使用下面的

server
  tomcat:
    relaxedPathChars: '<,>,[,\,],^,`,{,|,}'
    relaxedQueryChars: '<,>,[,\,],^,`,{,|,}'