HierarchicalUriComponents should format Collection URI var values in query param

[remeio]

When expand /hello?name={name}:

1. with uriVariables map:

• name: new String[]{"foo", "bar"}

We will get /hello?name=foo,bar.

2. with uriVariables map:

• name: List.of("foo", "bar")
• Or other Collection.

We will get /hello?name=[foo, bar].

This PR will keep the same behavior for array and collection when expanding query parameter.

[rstoyanchev]

This was added some time ago in #14346, but indeed no reason it shouldn't work for collections, which otherwise would be formatted with square brackets.