In the routing system you can't do this. What you can do is path aliasing.
Inbound: /{bar}/foo/{baz}
-> /foo/{bar}/{baz}
Outbound: /foo/{bar}/{baz}
-> /{bar}/foo/{baz}
You need a pattern to apply a regular expression on the path inbound, so /{bar}/{baz}
is only possible if the parameters themselves have a distinctive pattern.
I didn't find a tutorial how to build a path processor, but you can use the
PathProcessorFront class as example.
Register both as tagged service in the .services.yml file for the module.
services:
path_processor_front:
class: Drupal\Core\PathProcessor\PathProcessorFront
tags:
- { name: path_processor_inbound, priority: 200 }
- { name: path_processor_outbound, priority: 200 }
arguments: ['@config.factory']