Path params error

Working version
2.0.5

Failed Version
2.0.11
2.0.12

Context

"/v1/stories/places/{id}": {
      "get": {
        "summary": "Get place stories",
        "operationId": "getPlaceStories",
        "parameters": [
          {
            "name": "id",
            "in": "path",
            "required": true,
            "schema": {
              "type": "string"
            }
          },
          {
            "name": "longitude",
            "in": "query",
            "schema": {
              "type": "string"
            }
          },
          {
            "name": "userId",
            "in": "query",
            "schema": {
              "type": "string"
            }
          },
          {
            "name": "Authorization",
            "in": "header",
            "required": true,
            "schema": {
              "type": "string"
            }
          },
          {
            "name": "latitude",
            "in": "query",
            "schema": {
              "type": "string"
            }
          }
        ],
        "responses": {
          "200": {
            "description": "200 response",
            "content": {
              "application/json": {
                "schema": {
                  "$ref": "#/components/schemas/Empty"
                }
              }
            }
          }
        },
        "security": [
          {
            "api_key": []
          }
        ]
      },
      "options": {
        "responses": {
          "200": {
            "description": "200 response",
            "headers": {
              "Access-Control-Allow-Origin": {
                "schema": {
                  "type": "string"
                }
              },
              "Access-Control-Allow-Methods": {
                "schema": {
                  "type": "string"
                }
              },
              "Access-Control-Allow-Headers": {
                "schema": {
                  "type": "string"
                }
              }
            },
            "content": {
              "application/json": {
                "schema": {
                  "$ref": "#/components/schemas/Empty"
                }
              }
            }
          }
        }
      }
    },

2.0.5 parses the definition correctly but upgrade to 2.0.11/12 fails with the following error

Declared path parameter id needs to be defined as a path parameter in path or operation level

Start by reproducing the supplied OpenAPI path definition with swagger-parser 2.0.5 and 2.0.11/2.0.12, focusing on validation of the id path parameter. No source file or test is named in the issue; done means determining why the newer versions reject this definition and adding coverage for the intended behavior.