Should all path params be required for relative navigation?

I have my routes setup like the following:

/customers/$customerId/

/customers/$customerId/

/customers/$customerId/

/customers/$customerId/ (customerRoute)

/customers/$customerId/orders/$orderId

/customers/$customerId/orders/$orderId

/customers/$customerId/orders/$orderId

/customers/$customerId/orders/$orderId (customerOrderRoute)

When I try to navigate from the first route using a

<Link from={customerRoute.fullPath} to="orders/$orderId" params={{orderId: "123"}}>

<Link from={customerRoute.fullPath} to="orders/$orderId" params={{orderId: "123"}}>

<Link from={customerRoute.fullPath} to="orders/$orderId" params={{orderId: "123"}}>

<Link from={customerRoute.fullPath} to="orders/$orderId" params={{orderId: "123"}}>, I'm getting an error that

customerId

customerId

customerId

customerId is required.