routeEnhancers / urls beautify with multiple namespaces and multipart parameters

I need to beautify the urls of a framework for the presentation of historical documents (Kitodo.Presentation)

Simple replacements work, but in some cases multiple namespaces are needed, for example:

tx_dlf[id]=3506&tx_dlf[page]=2&tx_dlf[double]=0&tx_dlf_navigation[controller]=Navigation

Besides, there are places where the parameter is multipart, for example

tx_dlf_listview[searchParameter][collection]=16 or even
tx_dlf_search[searchParameter][fq][0]

At the moment I have to work with Typo3 v10, due to limitations of Kito.Presentation