Invalid character found in the request target in spring boot

According to https://tomcat.apache.org/tomcat-8.5-doc/config/systemprops.html, requestTargetAllow is deprecated. For me, the other solutions presented here did not work either. According to the Tomcat documentation I found a way to set the property relaxedQueryChars instead:

@Bean
public ConfigurableServletWebServerFactory webServerFactory() {
    TomcatServletWebServerFactory factory = new TomcatServletWebServerFactory();
    factory.addConnectorCustomizers(new TomcatConnectorCustomizer() {
        @Override
        public void customize(Connector connector) {
            connector.setProperty("relaxedQueryChars", "|{}[]");
        }
    });
    return factory;
}