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Well "everything is possible if you are brave enough (tm)"
Thing is that by servlet spec, only one application can be bound to single context root.
so you could only have one servlet app bound to /API root.
but nothing stops you to for example deploy one app to /invoces another under /purchase etc etc.
and than in undertow subsystem configuration add proxy / rewrite / redirect handlers to expose those apps under any context path you wish.
or you can even go more hardcore and implement ServletExtension where you can completely modify behavior of application handlers and custom paths anyway you want.
Oh yeah, a rewrite to point at the different context root is probably easiest.