refactor(execute): use canonical implementation of server URL templating

[char0n]

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[swagger-bot]

🎉 This PR is included in version 3.28.2 🎉

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[paztis]

I create this issue: #3656
the variables are now automatically encoding and we are no more able to provide a part of url with : and / in server variables

this didn't respect the specification here: https://swagger.io/docs/specification/api-host-and-base-path/ were a piece of URL can be part of the variables

SaaS and On-Premise

servers:
  - url: '{server}/v1'
    variables:
      server:
        default: https://api.example.com  # SaaS server