The router currently features pushState support (which is not yet undocumented) which also includes legacy fallback to the fragment part of the URL (using #).
Please give this approach a try and let us know if it works for your case.
Once instantiated, the router operates either in pushState or in fragment mode. I think that you can also trick it into using both (although I am not sure if this needed). by setting url with # in it. We have not tested such approach, though.
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