Class to create basic controller on request

request.php

<?php
namespace YOUR_PLUGIN;

class Request
{
    private $url;
  
    /**
      * private variable
      * make sure that the value of the properity is unique, lowercase, non whitespace and 
      * only accept alphabet and dash only
    */
    private $request_name = 'your-request';
    /**
     * Construction
     */
    public function __construct()
    {
        $this->url  = home_url($this->request_name);
    }

    /*
    * Register custom rules
    * Hooked via filter generate_rewrite_rules, priority 999
    * @param Object $wp_rewrite
    */
    public function set_custom_rules($wp_rewrite)
    {
        $wp_rewrite->rules[$this->request_name.'/([^/]+)/([^/]+)?$']         = 'index.php?'. $this->request_name .'=$matches[1]&action=$matches[2]';
        $wp_rewrite->rules[$this->request_name.'/([^/]+)/([^/]+)/([^/]+)?$'] = 'index.php?'. $this->request_name .'=$matches[1]&action=$matches[2]&value=$matches[3]';

        return $wp_rewrite;
    }

    /**
     * Add custom query vars
     * Hooked via filter query_vars, priority 999
     * @param array $vars [description]
     */
    public function add_query_vars($vars)
    {
        $vars[] = $this->request_name;
        $vars[] = 'action';
        $vars[] = 'value';

        return $vars;
    }

    /**
     * Check endpoint request
     * Hooked via action template_redirect, priority 999
     * @return void
     */
    public function check_request()
    {
        global $wp_query;

        if('' !== get_query_var($this->request_name) && '' !== get_query_var('action')) :

            $controller = get_query_var($this->request_name);
            $action     = get_query_var('action');
            $value      = get_query_var('value');

            $hook       = $this->request_name.'/'.$controller.'/'.$action;

            // do custom action
            do_action($hook,$value);
        endif;
    }
}

You can create custom controller with the link

https://your-website.example/your-request/posts/add without value in the end, or
https://your-website.example/your-request/posts/edit/1 with its value