Forward Routing filter doesn't support path parameters for local forwarding

Describe the bug
I am using forward scheme in my route to forward the request to local controller defined in the gateway application. My controller's API path is something like this:

/api/v1/service/{id}/path where id is path parameter.
As per the documentation of Forward Routing filter, the path part of the request URL is overridden with the path in the forward URL. That means that whatever was mentioned in the forward:/mycustompath will be added to the url. In this case, i can't route the request to my controller where id will change for each request.

Is there a way to achieve this? We were earlier using Spring cloud zuul and we are now migrating to spring cloud gateway and this is not working for us. I am trying to write a custom filter for this where i modify the correct path in the filter. Is this correct approach for this?

Sample

Start with the Forward Routing filter documentation and the reported forward:/mycustompath behavior, then review the custom-filter approach described in the issue. Determine how a local controller path such as /api/v1/service/{id}/path could receive a varying id. Done means local forwarding supports the required path parameter or clearly documents the supported alternative.