Remove the `Gitlab::Routing` module and use Rails' CustomUrlHelpers
## Why are we doing this work
Since the Rails version 5.1.0, it is possible to define the custom URL helpers by using `direct` DSL helper which can replace using our own `Gitlab::Routing` module.
To make the process of defining the custom URL helpers, we should remove the `Gitlab::Routing` module and move all the custom URL definitions to the `direct` DSL method.
## Relevant links
- This is a follow-up issue for https://gitlab.com/gitlab-org/gitlab/-/merge_requests/51865
## Non-functional requirements
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- [ ] Documentation:
- [ ] Feature flag:
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- [ ] Testing:
## Implementation plan
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- [ ] gitlab~3412464 Step 1
- [ ] `@person` Step 1a
- [ ] gitlab~3412464 Step 2
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epic