[v2] fix: Update UriTemplate implementation to handle optional/omitted, out-of-order, and encoded query parameters

[mgyarmathy]

This PR addresses several limitations of the current UriTemplate#match implementation:

• template matching fails when optional query parameters are not provided
• template matching fails when query parameters are provided out of order from the sequence specified in the template
• template matching does not decode uri-encoded query parameters

Omitted query parameters are parsed as an empty string per guidance of RFC 6570 Section 2.3.

Motivation and Context

Fixes #1079
Fixes #149

How Has This Been Tested?

New test additions cover all of the cases mentioned in #1079 and #149 as well as a few additional potential edge cases I could come up with.

Breaking Changes

n/a

Types of changes

• Bug fix (non-breaking change which fixes an issue)

Checklist

• I have read the MCP Documentation
• My code follows the repository's style guidelines
• New and existing tests pass locally
• I have added appropriate error handling

Additional context

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[mgyarmathy]

v1.x patch for this bugfix is here: #1083