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Extract Grape::Util::PathNormalizer from Grape::Router (#2697)

`Grape::Router.normalize_path` is a pure string utility — five of its six
callers already live outside `Grape::Router` (`Grape::Path`, `Grape::Namespace`,
`Grape::Middleware::Versioner::Path`, and `Grape::DSL::Routing`). Moving it to
`Grape::Util::PathNormalizer` puts the helper next to other utility-style
modules (`Header`, `Translation`, `Cache`, etc.) and clarifies that the function
has no dependency on `Router` state.

The class method `Grape::Router.normalize_path` is preserved as a deprecated
alias that delegates to `Grape::Util::PathNormalizer.call` and warns via
`Grape.deprecator`. It will be removed in a future release.

Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

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