以下の解決策はクリーンな回避策です。同じ厳格なファイアウォールを使用しているため、セキュリティが損なわれることはありません。
修正の手順は次のとおりです。
ステップ1:以下のようにStrictHttpFirewallをオーバーライドするクラスを作成します。
package com.biz.brains.project.security.firewall;
import java.util.Arrays;
import java.util.Collection;
import java.util.Collections;
import java.util.HashSet;
import java.util.List;
import java.util.Set;
import javax.servlet.http.HttpServletRequest;
import javax.servlet.http.HttpServletResponse;
import org.springframework.http.HttpMethod;
import org.springframework.security.web.firewall.DefaultHttpFirewall;
import org.springframework.security.web.firewall.FirewalledRequest;
import org.springframework.security.web.firewall.HttpFirewall;
import org.springframework.security.web.firewall.RequestRejectedException;
public class CustomStrictHttpFirewall implements HttpFirewall {
    private static final Set<String> ALLOW_ANY_HTTP_METHOD = Collections.unmodifiableSet(Collections.emptySet());
    private static final String ENCODED_PERCENT = "%25";
    private static final String PERCENT = "%";
    private static final List<String> FORBIDDEN_ENCODED_PERIOD = Collections.unmodifiableList(Arrays.asList("%2e", "%2E"));
    private static final List<String> FORBIDDEN_SEMICOLON = Collections.unmodifiableList(Arrays.asList(";", "%3b", "%3B"));
    private static final List<String> FORBIDDEN_FORWARDSLASH = Collections.unmodifiableList(Arrays.asList("%2f", "%2F"));
    private static final List<String> FORBIDDEN_BACKSLASH = Collections.unmodifiableList(Arrays.asList("\\", "%5c", "%5C"));
    private Set<String> encodedUrlBlacklist = new HashSet<String>();
    private Set<String> decodedUrlBlacklist = new HashSet<String>();
    private Set<String> allowedHttpMethods = createDefaultAllowedHttpMethods();
    public CustomStrictHttpFirewall() {
        urlBlacklistsAddAll(FORBIDDEN_SEMICOLON);
        urlBlacklistsAddAll(FORBIDDEN_FORWARDSLASH);
        urlBlacklistsAddAll(FORBIDDEN_BACKSLASH);
        this.encodedUrlBlacklist.add(ENCODED_PERCENT);
        this.encodedUrlBlacklist.addAll(FORBIDDEN_ENCODED_PERIOD);
        this.decodedUrlBlacklist.add(PERCENT);
    }
    public void setUnsafeAllowAnyHttpMethod(boolean unsafeAllowAnyHttpMethod) {
        this.allowedHttpMethods = unsafeAllowAnyHttpMethod ? ALLOW_ANY_HTTP_METHOD : createDefaultAllowedHttpMethods();
    }
    public void setAllowedHttpMethods(Collection<String> allowedHttpMethods) {
        if (allowedHttpMethods == null) {
            throw new IllegalArgumentException("allowedHttpMethods cannot be null");
        }
        if (allowedHttpMethods == ALLOW_ANY_HTTP_METHOD) {
            this.allowedHttpMethods = ALLOW_ANY_HTTP_METHOD;
        } else {
            this.allowedHttpMethods = new HashSet<>(allowedHttpMethods);
        }
    }
    public void setAllowSemicolon(boolean allowSemicolon) {
        if (allowSemicolon) {
            urlBlacklistsRemoveAll(FORBIDDEN_SEMICOLON);
        } else {
            urlBlacklistsAddAll(FORBIDDEN_SEMICOLON);
        }
    }
    public void setAllowUrlEncodedSlash(boolean allowUrlEncodedSlash) {
        if (allowUrlEncodedSlash) {
            urlBlacklistsRemoveAll(FORBIDDEN_FORWARDSLASH);
        } else {
            urlBlacklistsAddAll(FORBIDDEN_FORWARDSLASH);
        }
    }
    public void setAllowUrlEncodedPeriod(boolean allowUrlEncodedPeriod) {
        if (allowUrlEncodedPeriod) {
            this.encodedUrlBlacklist.removeAll(FORBIDDEN_ENCODED_PERIOD);
        } else {
            this.encodedUrlBlacklist.addAll(FORBIDDEN_ENCODED_PERIOD);
        }
    }
    public void setAllowBackSlash(boolean allowBackSlash) {
        if (allowBackSlash) {
            urlBlacklistsRemoveAll(FORBIDDEN_BACKSLASH);
        } else {
            urlBlacklistsAddAll(FORBIDDEN_BACKSLASH);
        }
    }
    public void setAllowUrlEncodedPercent(boolean allowUrlEncodedPercent) {
        if (allowUrlEncodedPercent) {
            this.encodedUrlBlacklist.remove(ENCODED_PERCENT);
            this.decodedUrlBlacklist.remove(PERCENT);
        } else {
            this.encodedUrlBlacklist.add(ENCODED_PERCENT);
            this.decodedUrlBlacklist.add(PERCENT);
        }
    }
    private void urlBlacklistsAddAll(Collection<String> values) {
        this.encodedUrlBlacklist.addAll(values);
        this.decodedUrlBlacklist.addAll(values);
    }
    private void urlBlacklistsRemoveAll(Collection<String> values) {
        this.encodedUrlBlacklist.removeAll(values);
        this.decodedUrlBlacklist.removeAll(values);
    }
    @Override
    public FirewalledRequest getFirewalledRequest(HttpServletRequest request) throws RequestRejectedException {
        rejectForbiddenHttpMethod(request);
        rejectedBlacklistedUrls(request);
        if (!isNormalized(request)) {
            request.setAttribute("isNormalized", new RequestRejectedException("The request was rejected because the URL was not normalized."));
        }
        String requestUri = request.getRequestURI();
        if (!containsOnlyPrintableAsciiCharacters(requestUri)) {
            request.setAttribute("isNormalized",  new RequestRejectedException("The requestURI was rejected because it can only contain printable ASCII characters."));
        }
        return new FirewalledRequest(request) {
            @Override
            public void reset() {
            }
        };
    }
    private void rejectForbiddenHttpMethod(HttpServletRequest request) {
        if (this.allowedHttpMethods == ALLOW_ANY_HTTP_METHOD) {
            return;
        }
        if (!this.allowedHttpMethods.contains(request.getMethod())) {
            request.setAttribute("isNormalized",  new RequestRejectedException("The request was rejected because the HTTP method \"" +
                    request.getMethod() +
                    "\" was not included within the whitelist " +
                    this.allowedHttpMethods));
        }
    }
    private void rejectedBlacklistedUrls(HttpServletRequest request) {
        for (String forbidden : this.encodedUrlBlacklist) {
            if (encodedUrlContains(request, forbidden)) {
                request.setAttribute("isNormalized",  new RequestRejectedException("The request was rejected because the URL contained a potentially malicious String \"" + forbidden + "\""));
            }
        }
        for (String forbidden : this.decodedUrlBlacklist) {
            if (decodedUrlContains(request, forbidden)) {
                request.setAttribute("isNormalized",  new RequestRejectedException("The request was rejected because the URL contained a potentially malicious String \"" + forbidden + "\""));
            }
        }
    }
    @Override
    public HttpServletResponse getFirewalledResponse(HttpServletResponse response) {
        return new FirewalledResponse(response);
    }
    private static Set<String> createDefaultAllowedHttpMethods() {
        Set<String> result = new HashSet<>();
        result.add(HttpMethod.DELETE.name());
        result.add(HttpMethod.GET.name());
        result.add(HttpMethod.HEAD.name());
        result.add(HttpMethod.OPTIONS.name());
        result.add(HttpMethod.PATCH.name());
        result.add(HttpMethod.POST.name());
        result.add(HttpMethod.PUT.name());
        return result;
    }
    private static boolean isNormalized(HttpServletRequest request) {
        if (!isNormalized(request.getRequestURI())) {
            return false;
        }
        if (!isNormalized(request.getContextPath())) {
            return false;
        }
        if (!isNormalized(request.getServletPath())) {
            return false;
        }
        if (!isNormalized(request.getPathInfo())) {
            return false;
        }
        return true;
    }
    private static boolean encodedUrlContains(HttpServletRequest request, String value) {
        if (valueContains(request.getContextPath(), value)) {
            return true;
        }
        return valueContains(request.getRequestURI(), value);
    }
    private static boolean decodedUrlContains(HttpServletRequest request, String value) {
        if (valueContains(request.getServletPath(), value)) {
            return true;
        }
        if (valueContains(request.getPathInfo(), value)) {
            return true;
        }
        return false;
    }
    private static boolean containsOnlyPrintableAsciiCharacters(String uri) {
        int length = uri.length();
        for (int i = 0; i < length; i++) {
            char c = uri.charAt(i);
            if (c < '\u0020' || c > '\u007e') {
                return false;
            }
        }
        return true;
    }
    private static boolean valueContains(String value, String contains) {
        return value != null && value.contains(contains);
    }
    private static boolean isNormalized(String path) {
        if (path == null) {
            return true;
        }
        if (path.indexOf("//") > -1) {
            return false;
        }
        for (int j = path.length(); j > 0;) {
            int i = path.lastIndexOf('/', j - 1);
            int gap = j - i;
            if (gap == 2 && path.charAt(i + 1) == '.') {
                
                return false;
            } else if (gap == 3 && path.charAt(i + 1) == '.' && path.charAt(i + 2) == '.') {
                return false;
            }
            j = i;
        }
        return true;
    }
}
ステップ2:FirewalledResponseクラスを作成する
package com.biz.brains.project.security.firewall;
import java.io.IOException;
import java.util.regex.Pattern;
import javax.servlet.http.Cookie;
import javax.servlet.http.HttpServletResponse;
import javax.servlet.http.HttpServletResponseWrapper;
class FirewalledResponse extends HttpServletResponseWrapper {
    private static final Pattern CR_OR_LF = Pattern.compile("\\r|\\n");
    private static final String LOCATION_HEADER = "Location";
    private static final String SET_COOKIE_HEADER = "Set-Cookie";
    public FirewalledResponse(HttpServletResponse response) {
        super(response);
    }
    @Override
    public void sendRedirect(String location) throws IOException {
        
        
        validateCrlf(LOCATION_HEADER, location);
        super.sendRedirect(location);
    }
    @Override
    public void setHeader(String name, String value) {
        validateCrlf(name, value);
        super.setHeader(name, value);
    }
    @Override
    public void addHeader(String name, String value) {
        validateCrlf(name, value);
        super.addHeader(name, value);
    }
    @Override
    public void addCookie(Cookie cookie) {
        if (cookie != null) {
            validateCrlf(SET_COOKIE_HEADER, cookie.getName());
            validateCrlf(SET_COOKIE_HEADER, cookie.getValue());
            validateCrlf(SET_COOKIE_HEADER, cookie.getPath());
            validateCrlf(SET_COOKIE_HEADER, cookie.getDomain());
            validateCrlf(SET_COOKIE_HEADER, cookie.getComment());
        }
        super.addCookie(cookie);
    }
    void validateCrlf(String name, String value) {
        if (hasCrlf(name) || hasCrlf(value)) {
            throw new IllegalArgumentException(
                    "Invalid characters (CR/LF) in header " + name);
        }
    }
    private boolean hasCrlf(String value) {
        return value != null && CR_OR_LF.matcher(value).find();
    }
}
ステップ3:RejectedExceptionを抑制するカスタムフィルターを作成する
package com.biz.brains.project.security.filter;
import java.io.IOException;
import java.util.Objects;
import javax.servlet.FilterChain;
import javax.servlet.ServletException;
import javax.servlet.ServletRequest;
import javax.servlet.ServletResponse;
import javax.servlet.http.HttpServletRequest;
import javax.servlet.http.HttpServletResponse;
import org.springframework.core.Ordered;
import org.springframework.core.annotation.Order;
import org.springframework.http.HttpHeaders;
import org.springframework.security.web.firewall.RequestRejectedException;
import org.springframework.stereotype.Component;
import org.springframework.web.filter.GenericFilterBean;
import lombok.extern.slf4j.Slf4j;
@Component
@Slf4j
@Order(Ordered.HIGHEST_PRECEDENCE)
public class RequestRejectedExceptionFilter extends GenericFilterBean {
        @Override
        public void doFilter(ServletRequest servletRequest, ServletResponse servletResponse, FilterChain filterChain) throws IOException, ServletException {
            try {
                RequestRejectedException requestRejectedException=(RequestRejectedException) servletRequest.getAttribute("isNormalized");
                if(Objects.nonNull(requestRejectedException)) {
                    throw requestRejectedException;
                }else {
                    filterChain.doFilter(servletRequest, servletResponse);
                }
            } catch (RequestRejectedException requestRejectedException) {
                HttpServletRequest httpServletRequest = (HttpServletRequest) servletRequest;
                HttpServletResponse httpServletResponse = (HttpServletResponse) servletResponse;
                log
                    .error(
                            "request_rejected: remote={}, user_agent={}, request_url={}",
                            httpServletRequest.getRemoteHost(),  
                            httpServletRequest.getHeader(HttpHeaders.USER_AGENT),
                            httpServletRequest.getRequestURL(), 
                            requestRejectedException
                    );
                httpServletResponse.sendError(HttpServletResponse.SC_NOT_FOUND);
            }
        }
}
ステップ4:セキュリティ構成のスプリングフィルターチェーンにカスタムフィルターを追加します
@Override
protected void configure(HttpSecurity http) throws Exception {
     http.addFilterBefore(new RequestRejectedExceptionFilter(),
             ChannelProcessingFilter.class);
}
上記の修正を使用すると、RequestRejectedExceptionエラー404ページで処理できます。