Problems with Auto Routing and URI Segments

Before set $autoRoutesImproved to true, My Project works fine,

Do you mean when you set $autoRoutesImproved to false it works fine?

If so, you don't understand auto routing improved well.
Auto routing improved is completely different from legacy auto routing.
You need to follow the new rules:
See https://codeigniter4.github.io/CodeIgnit...to-routing

ci-phpunit-test | CodeIgniter Testing Guide | CodeIgniter 3 to 4 Upgrade Helper