It should be possible to use the REST DSL natively on top of the spring-boot-web implementation, without the need to bind the Camel services under a specific sub-root (eg. camel-servlet requires all your services being under the "/camel/*" path or something else).
Probably we need a component for that. With such a component, it would be easier to switch between any of the spring-boot embedded servers (Tomcat, Jetty, Undertow, ...) and reuse all the spring-boot features for what concerns eg. configuration, health checks, etc.