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Hey, seeing no one else has provided anything yet I'll provide you one of my own projects. It may look like it may be a bit complex due to the monorepo structure but there's only really two directories that would contain the type of thing you're looking for.
I suggest NestJS, however I wouldn’t say it is simple as a library, rather simple to get started. It is similar to Spring boot, but for TypeScript.
Just in case you're the developer, what's the benefit over something simpler like https://github.com/Aquila169/zod-express-middleware?