[JAVA] @Parameter( explode = Explode.FALSE, style = ParameterStyle.FORM) does not generate query parameters as unescaped csv format

Description

[Java]
Using the io.swagger.v3.oas.annotations.Parameter annotation with Explode.FALSE and ParameterStyle.FORM does not generate URL in the correct format for query parameters

@Path("/foos")
public Response findFoos(
            @Parameter(description = "filter based on foos", explode = Explode.FALSE, style = ParameterStyle.FORM)
            @QueryParam("keys") List<String> foos) {
        return super.findFoos(foos);
    }

Gives us the following URL in the generated Java client when called with this list (A,B,C)
https://localhost/foos?foos=A%2CB%2CC instead of https://localhost/foos?foos=A,B,C

Commas should not be escaped in this case as the use of form/explode=false is described in https://swagger.io/docs/specification/serialization/

form	false	/users{?id}	/users?id=5	/users?id=3,4,5	/users?id=role,admin,firstName,Alex

openapi-generator version

Version 6.2.1

OpenAPI declaration file content or url

Command line used for generation

docker run --name openapi-generator-cli -v "${PWD}:/local" openapitools/openapi-generator-cli:6.2.1 generate -i input.json -g java -o /local/out/java --additional-properties library="jersey2",dateLibrary="joda"

Steps to reproduce

Generate swagger to java, look at the generated java classes, in invokeAPI method the queryParam is always escaped.

if (queryParams != null) {
      for (Pair queryParam : queryParams) {
        if (queryParam.getValue() != null) {
          target = target.queryParam(queryParam.getName(), escapeString(queryParam.getValue()));
        }
      }
    }

Related issues/PRs

N/A

Suggest a fix/enhancement

Unknown

Reproduce the issue with the provided OpenAPI parameter, Java generator command, and jersey2 library, then inspect the generated client's invokeAPI method and its escapeString call. Verify how form-style, non-exploded array query parameters are serialized, and consider the work complete when the generated request preserves the documented comma-separated format without breaking other query escaping.