Two routes one page (optional parameter)

is there a way to have query like this

whatever/ID/SECOND_ID

whatever/ID/SECOND_ID

where they both point to the same page but the

SECOND_ID

SECOND_ID

is optional? So even if you just put

whatever/1

whatever/1

instead of

whatever/1/2

whatever/1/2

it still match the same page

Two routes one page (optional parameter) - TanStack