[BUGFIX] Revert "Remove prefixed scriptName from urlPath in PageRouter"

This reverts commit e2e59fb3 due
to certain incompatibilities with direct "index.php" calls in
certain server setups.

Change-Id: I980feb08f3a507d51ad059763748ee64752aa9a3
Resolves: #94968
Reverts: #94537
Releases: master, 10.4, 9.5
Reviewed-on: https://review.typo3.org/c/Packages/TYPO3.CMS/+/70694


Tested-by: core-ci <typo3@b13.com>
Tested-by: Andreas Fernandez <a.fernandez@scripting-base.de>
Tested-by: Stefan Bürk <stefan@buerk.tech>
Tested-by: Benni Mack <benni@typo3.org>
Reviewed-by: Andreas Fernandez <a.fernandez@scripting-base.de>
Reviewed-by: Stefan Bürk <stefan@buerk.tech>
Reviewed-by: Benni Mack <benni@typo3.org>