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Speed up declared filling in a missing Hash param (#2947)

When `declared(params)` fills in a Hash-typed param the request left out,
it answers `{}` unless the route declares a child of it, and it looked for
one by interpolating `"#{key}["` inside the `none?` block: a new String
for every param on the route. The prefix is now built once and passed to
the check. Its `k != key` guard is dropped too -- a key that starts with
`"#{key}["` is longer than `key`, so it never equals it.

On a request to a route with 19 optional String params and a Hash param,
sending only one of them, this takes 123 -> 105 objects per request and
is +3.8% without a JIT, +6.3% with YJIT; with 49 String params,
243 -> 195 objects and +4.4% / +8.9%.

Two same-shape cleanups on route compilation, with no throughput effect:
`routes` uses `flat_map` (`Endpoint#routes` is already flat), and a
route's requirements are merged into one Hash with `merge!` instead of a
fresh Hash per namespace.

Co-authored-by: Claude Opus 5 <noreply@anthropic.com>

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