I need to beautify the urls of a framework for the presentation of historical documents (Kitodo.Presentation)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

Only examples with one namespace are listed in the Typo3 documentation. However, no statement is made about the number of possible namespaces.

Extract from my config.yaml

routeEnhancers:
  KitodoWorkview:
    type: Plugin
    namespace: tx_dlf
    limitToPages:
      - 21
    routePath: '/{id}/page-{page}'
    requirements:
      id: \d+
      page: \d+
  KitodoWorkviewDoublePagegrid:
    type: Plugin
    namespace: tx_dlf
    limitToPages:
      - 21
    routePath: '/{id}/page-{page}/g-{pagegrid}-d-{double}'
    default:
      double: 0
      pagegrid: 0
    requirements:
      id: \d+
      page: \d+
      double: 0|1
      pagegrid: 0|1
  KitodoHistCollectionView:
    type: Plugin
    namespace: tx_dlf_collection
    limitToPages:
      - 1
      - 2
      - 5
    routePath: '/{action}/{controller}/{collection}'
    requirements:
      action: (show|main)
      collection: (\d+)
      controller: (Collection|ListView)
  KitodoWorkviewDoublePagegridNextBack:
    type: Plugin
    namespace:
      - tx_dlf
      - tx_dlf_navigation
    limitToPages:
      - 212
    routePath: '/{id}/page-{page}/{pagegrid}-{double}|{controller}'
    default:
      double: 0
      pagegrid: 0
    requirements:
      id: '(\d+)|(https.*.xml)|(http.*xml)'
      page: \d+
      double: 0|1
      pagegrid: 0|1
      controller: (Navigation)
  KitodoHistCollectionListView:
    type: Plugin
    namespace: tx_dlf_listview
    limitToPages:
      - 5
      - 22
      - 23
      - 24
      - 25
      - 32
    routePath: '/{action}/{controller}'
    requirements:
      action: (show|main)
      controller: (Collection|ListView)
  KitodoNavigation:
    type: Plugin
    namespace: tx_dlf_navigation
    limitToPages:
      - 21
    routePath: '/controller-{controller}'
    requirements:
      controller: '^[a-zA-Z]{5,20}$'

Adjustments:

Here are two working examples, derived from the very helpful answer by @Bernd Wilke, without the use of "namespaces"

Example with two 'namespaces' (functional)

...tx_dlf[id]=2&tx_dlf_navigation[controller]=Navigation ...

  KitodoWorkviewDoublePagegridNextBack:
    type: Simple
    limitToPages:
      - 21
    routePath: '/{id}/page-{page}/g-{pagegrid}-d-{double}/nc-{navcontroller}'
    default:
      double: 0
      pagegrid: 0
    _arguments:
      id: 'tx_dlf/id'
      page: 'tx_dlf/pagegrid'
      pagegrid: 'tx_dlf/pagegrid'
      double: 'tx_dlf/double'
      navcontroller: 'tx_dlf_navigation/controller'
    requirements:
      id: \d+
      page: \d+
      pagegrid: 0|1
      double: 0|1
      controller: (Navigation)

Example where parameter is multipart (functional)

...tx_dlf_listview[searchParameter][collection]=2&tx_dlf_listview[widgetPage][currentPage]=1 ...

  KitodoHistCollectionListView:
    type: Simple
    limitToPages:
      - 5
    routePath: '/list-action-{action}/list-controller-{controller}/list-collection-{searchParameter}/list-cp-{widgetPage}'
    _arguments:
      action: 'tx_dlf_listview/action'
      controller: 'tx_dlf_listview/controller'
      searchParameter: 'tx_dlf_listview/searchParameter/collection'
      widgetPage: 'tx_dlf_listview/widgetPage/currentPage'
    requirements:
      action: (show|main)
      controller: (Collection|ListView)
      searchParameter: \d+
      widgetPage: \d+

Multipart parameter can be handled with _arguments which also are in the examples.
See the example for the paginator (@widget_0[currentPage]):

routeEnhancers:
  News:
    type: Extbase
    extension: News
    plugin: Pi1
    routes:
      - routePath: '/page-{page}'
        _controller: 'News::list'
        _arguments:
          page: '@widget_0/currentPage'

or the overwriting parameter:

      :
      - routePath: '/{tag-name}'
        _controller: 'News::list'
        _arguments:
          tag-name: overwriteDemand/tags

With arguments you also can combine multiple parameters to one path segment, independent of parameter names and dimensions similar to your example:

        routePath: '/{year}-{month}'
        _controller: 'Post::listPostsByDate'
        _arguments:
          year: year
          month: month

EDIT:

regarding the multiple namespaces: I would drop namespaces and specify all parameters as multidimensional arguments.
If the namespace option is required for type: Extbase (I find no full documentation for it) try type: Simple:

example:

if you want to join: &tx_dlf[double]=0&tx_dlf_navigation[controller]=Navigation

routeEnhancers:
  MySpecialRoute:
    type: Simple
    routePath: '{controller}-{double}/'
    _arguments:
      controller: 'tx_dlf_navigation/controller`
      double: 'tx_dlf/double'

(you can add and maybe should add further configuration like defaults and requirements)