Ingress Gateway: Wildcard path based routing

#### Feature Description

Ingress gateways currently support wildcards, however this only works based on the Host/Authority headers of the request.
Path based routing requires a `service-router` which does not support wildcards.

One way to address this issue: https://github.com/hashicorp/consul/issues/9712
Another is to support wildcard path based routing in Ingress Gateways.

#### Use Case(s)

Most legacy applications have configurable URLs, it is almost universally easier to configure them to call:
http://{ingress-gateway-address}:{ingress-gateway-port}/{name-of-service}/path/to/query

Than to call:
-H "Host: {name-of-service}.ingress.consul" http://{ingress-gateway-address}:{ingress-gateway-port}/path/to/query