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Compile the APIs mounted in a Rails application's routes at boot (#3022)

An API compiles on the first request each process answers unless the
application calls compile! itself, and the README's advice for Rails, to
call it from application.rb, raises NameError on Rails 7+: the main
autoloader is set up only after the application's initializers have run.

Rails builds its own routes' router at boot when config.eager_load is on.
The Railtie now does the same for the Grape APIs those routes mount,
including through a mounted engine, from config.after_routes_loaded, the
first point at which the routes are drawn. It walks the route set the way
bin/rails routes does, so only the APIs Rails serves are compiled, not the
ones mounted inside another API or never mounted at all. Without eager
loading, as in development, the hook also runs after each reload, and the
APIs stay lazy.

The README drops the application.rb advice and shows how to compile an API
Rails does not see in its routes, from config.after_initialize.

Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>

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