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fix: replace `CGI.parse` with `URI.decode_www_form` for Ruby 4
Ruby 4.0 removed the full CGI library from default gems ([Feature #21258][1]), keeping only `cgi/escape`. This broke `TracingUtils.parse_query_string` which relied on `CGI.parse`. Replace `CGI.parse` with `URI.decode_www_form` from stdlib, and narrow `require "cgi"` to `require "cgi/escape"` where only escape/unescape methods are needed. [1]: https://bugs.ruby-lang.org/issues/21258