docs: update links of path-to-regexp to 6.x #707
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As mentioned in #684, path-to-regexp 8.x introduces significant changes on how users define routes. However, the links to path-to-regexp in README.md refer to 8.x, where the documented parameters hardly work at all, which confused me a lot when I first tried oak. This PRs updates the links to path-to-regexp 6.x so that new users can find the correct documentation.