How to integrate my own route system with Symfony components. (Router)

App.php

<?php

namespace Legacy;

use Symfony\Component\DependencyInjection\ContainerBuilder;
use Symfony\Component\DependencyInjection\Loader\YamlFileLoader;
use Symfony\Component\Config\FileLocator;
use Symfony\Component\HttpFoundation\Request;
use Symfony\Component\HttpKernel\Controller\ContainerControllerResolver;
use Symfony\Component\HttpKernel\Controller\ArgumentResolver;
use Symfony\Component\Routing\RequestContext;
use Symfony\Component\Routing\Matcher\UrlMatcher;

class App
{
    private $container;

    public function resolveRoute(): void
    {
        $controllerResolver = $this->getContainer()->get(ContainerControllerResolver::class);
        $argumentResolver = $this->getContainer()->get(ArgumentResolver::class);

        $params = $this->getContainer()->get(UrlMatcher::class)
            ->match($this->getContainer()->get(RequestContext::class)->getPathInfo());

        $this->getContainer()->get('request')
            ->attributes->add($params);

        /** @var Request $request */
        $request = $this->getContainer()->get('request');
        $controller = $controllerResolver
            ->getController($request);
        $arguments = $argumentResolver
            ->getArguments($request, $controller);

        call_user_func_array($controller, $arguments);
    }

    private function getContainer(): ContainerBuilder
    {
        if (!$this->container) {
            $this->container = new ContainerBuilder();
            $loader = new YamlFileLoader(
                $this->container,
                new FileLocator(__DIR__ . '/../config')
            );

            $loader->load('services.yaml');
            $this->container->compile(true);
        }

        return $this->container;
    }
}

config-routes.yaml

content.edit:
  path: /post/edit/{id}
  controller: Legacy\Controller\PostController::edit
  methods: GET

config-services.yaml

services:
  _defaults:
    public: true
    autowire: true
    autoconfigure: true

  Legacy\:
    resource: '../src/*'
    exclude: '../src/{App.php}'

  request:
    class: Symfony\Component\HttpFoundation\Request
    factory: [ Symfony\Component\HttpFoundation\Request, createFromGlobals ]

  request_stack:
    class: Symfony\Component\HttpFoundation\RequestStack

  argument.service.resolver:
    class: Symfony\Component\HttpKernel\Controller\ArgumentResolver\ServiceValueResolver

  argument.attribute.resolver:
    class: Symfony\Component\HttpKernel\Controller\ArgumentResolver\RequestAttributeValueResolver

  argument.default.resolver:
    class: Symfony\Component\HttpKernel\Controller\ArgumentResolver\DefaultValueResolver

  argument.request_value.resolver:
    class: Symfony\Component\HttpKernel\Controller\ArgumentResolver\RequestValueResolver

  argument.session.resolver:
    class: Symfony\Component\HttpKernel\Controller\ArgumentResolver\SessionValueResolver

  argument.variadic.resolver:
    class: Symfony\Component\HttpKernel\Controller\ArgumentResolver\VariadicValueResolver

  Symfony\Component\HttpKernel\Controller\ContainerControllerResolver:

  Symfony\Component\HttpKernel\Controller\ArgumentResolver:
    arguments:
      $argumentValueResolvers:
        - '@argument.attribute.resolver'
        - '@argument.default.resolver'
        - '@argument.request_value.resolver'
        - '@argument.session.resolver'
        - '@argument.variadic.resolver'
        - '@argument.service.resolver'

  config.locator:
    class: Symfony\Component\Config\FileLocator
    arguments: ['../config']

  router.loader:
    class: Symfony\Component\Routing\Loader\YamlFileLoader
    arguments:
      $locator: '@config.locator'

  router.router:
    class: Symfony\Component\Routing\Router
    arguments:
      $loader: '@router.loader'
      $resource: 'routes.yaml'
      $options:
        cache_dir: '../cache'

  Symfony\Component\Routing\RequestContext:
    calls:
      - fromRequest: ['@request']

  Symfony\Component\Routing\RouteCollection:
    factory: ['@router.router', 'getRouteCollection']

  Symfony\Component\Routing\Matcher\UrlMatcher:

PostController.php

<?php

namespace Legacy\Controller;

use Symfony\Bundle\FrameworkBundle\Controller\AbstractController;

class PostController extends AbstractController {
  public function edit(int $id): void
  {
    // ...
  }
}