Spring Security MvcRequestMatcher does not match Servlet from ServletRegistrationBean

If a Servlet is registered by an ServletRegistrationBean the MvcRequestMatcher does not match the mapping for the registered Servlet.

The following code is not matching:

 http.authorizeHttpRequests(customizer -> customizer
                    .requestMatchers("/demoservlet/**").permitAll()

When using antMatcher instead the matcher is working:

http.authorizeHttpRequests(customizer -> customizer
                    .requestMatchers(antMatcher("/demoservlet/**")).permitAll()

To Reproduce Run the test NotWorkingTest from the sample

Expected behavior WorkingTest from the sample should be successful.

Sample https://github.com/marbon87/spring-security-mvcmatcher-bug-example