Hello everyone, I was able to build an example of a friendly url configuration following the instructions of this page https://help.liferay.com/hc/es/articles/360017885992-Making-URLs-Friendlier. Now I need to do some changes because I'm using ActionCommands to open different renders based on some business logic and when I do that the mapper is not working,
This is the action code I have:
@Component(
        immediate = true,
        property = {
                "javax.portlet.name=" + TestFriendlyUrlPortletKeys.TESTFRIENDLYURL,
                "mvc.command.name=/test/final/action"
        },
        service = MVCActionCommand.class
)
public class FinalMVCActionCommand implements MVCActionCommand{
    @Override
    public boolean processAction(ActionRequest actionRequest, ActionResponse actionResponse) throws PortletException {
        actionResponse.setRenderParameter("mvcRenderCommandName", "/test/render");
        return false;
    }
}
This is the render code I have:
@Component(
        immediate = true,
        property = {
            "javax.portlet.name=" +  TestFriendlyUrlPortletKeys.TESTFRIENDLYURL,
            "mvc.command.name=/test/render"
        },
        service = MVCRenderCommand.class
)
public class FinalMVCRenderCommand implements MVCRenderCommand {
    @Override
    public String render(RenderRequest renderRequest, RenderResponse renderResponse) throws PortletException {
        return "/final.jsp";
    }
}
And finally this is the routes.xml file<routes>
    <route>
        <pattern>/render</pattern>
        <implicit-parameter name="mvcRenderCommandName">/test/render</implicit-parameter>
        <implicit-parameter name="p_p_lifecycle">0</implicit-parameter>
        <implicit-parameter name="p_p_state">normal</implicit-parameter>
    </route>
</routes>

Thank you everyone for your time!