Replacement for Gorilla/MUX package

[Lindsey Cheng]

🚀 Feature Request

Relevant Package [REQUIRED]

This feature request is for all of the EdgeX micro services have a dependency on it

Description [REQUIRED]

This is a spin-off from https://github.com/edgexfoundry/edgex-go/issues/4247

The gorilla/mux package has been archived, and is no longer under active maintenance. We use it as the HTTP router in go-mod-bootstrap, edgex-go and other edgex services to define the http REST routes.

Describe the solution you'd like

Per discussion in https://github.com/edgexfoundry/edgex-go/issues/4247, it will be replaced with `echo`, which supports routing, middleware and tls features similar to `gorilla/mux`.

Describe alternatives you've considered

Other alternatives were discussed in https://github.com/edgexfoundry/edgex-go/issues/4247, and `echo` was the most appropriate solution in the end.