how to Localization and friendly routes in 3.1 MVC

Hi,
I create new project asp.core 3.1 mvc with localization

how can i use routes like /culture/controller/action

language switching works well, but with controller/action/culture=en

and also the default language doesn't work

my startup.cs

using System.Globalization;
using base_project.Models;
using base_project.Services.Mailing;
using base_project.Validation;
using Microsoft.AspNetCore.Builder;
using Microsoft.AspNetCore.Hosting;
using Microsoft.AspNetCore.Localization;
using Microsoft.AspNetCore.Mvc;
using Microsoft.AspNetCore.Mvc.Razor;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;

namespace base_project
{
    public class Startup
    {
        public Startup(IConfiguration configuration)
        {
            Configuration = configuration;
        }

        public IConfiguration Configuration { get; }

        // This method gets called by the runtime. Use this method to add services to the container.
        public void ConfigureServices(IServiceCollection services)
        {
            services.AddControllersWithViews();
            services.AddScoped<IMailSendLogic, MailSendLogic>();
            /**** LOCALIZATION ****/
            services.AddLocalization(options => options.ResourcesPath = "Resources");
            services.AddMvc().AddViewLocalization(LanguageViewLocationExpanderFormat.Suffix);
            services.AddMvc().AddDataAnnotationsLocalization(options => {
                options.DataAnnotationLocalizerProvider = (type, factory) =>
                    factory.Create(typeof(SharedErrorMessages));
            });

            services.Configure<MvcOptions>(options =>
            {
                options.ModelMetadataDetailsProviders.Add(new CustomValidationProvider());
            });

            services.Configure<RequestLocalizationOptions>(options =>
            {
                var supportedCultures = new[]
                {
                    new CultureInfo("ca"),
                    new CultureInfo("es"),
                    new CultureInfo("en")
                };

                //options.DefaultRequestCulture = new RequestCulture("en-US", "en-US");
                options.DefaultRequestCulture = new RequestCulture("es");
                options.SupportedCultures = supportedCultures;
                options.SupportedUICultures = supportedCultures;
            });

            services.Configure<ReCAPTCHASettings>(Configuration.GetSection("GooglereCAPTCHA"));
            /**** END LOCALIZATION ****/
        }

        // This method gets called by the runtime. Use this method to configure the HTTP request pipeline.
        public void Configure(IApplicationBuilder app, IWebHostEnvironment env)
        {
            if (env.IsDevelopment())
            {
                app.UseDeveloperExceptionPage();
            }
            else
            {
                app.UseExceptionHandler("/Home/Error");
            }
            app.UseStaticFiles();

            app.UseRouting();

            app.UseAuthorization();

            app.UseRequestLocalization();

            //app.UseEndpoints(endpoints =>
            //{
            //    endpoints.MapControllerRoute(
            //        name: "default",
            //        pattern: "{culture=es}/{controller=Home}/{action=Index}/{id?}");
            //});
            app.UseEndpoints(endpoints =>
            {
                endpoints.MapControllerRoute(
                    name: "default",
                    pattern: "{controller=Home}/{action=Index}/{id?}");
            });
        }
    }
}