API Explorer Extensions Should Support Minimal APIs

[commonsensesoftware]

Background

When using Minimal APIs with the API Versioning API Explorer extensions, endpoints should be properly documented.

Expected Behavior

1. IApiVersionDescriptionProvider should return expected results
2. Route parameters should be substituted with API version value
3. There should be parity with the built-in OpenApiRouteHandlerExtensions such as Accepts and Produces

Additional Information

1. It would be nice to have a working example too

[commonsensesoftware]

3. Was originally excluded due to the design limitations in the current ASP.NET Core design and has been called out in dotnet/aspnetcore#39604. A fork of the code will be required to support it. Hopefully, it can be remedied in .NET 7.