The issue is caused by BW using the Servlet API JAR from REST/JSON plug-in installation (%BW_PLUGINS_HOME%/lib) instead of the one from %TPCL_HOME%/tomcat/9/lib.
Resolution
To resolve the issue, the classpath needs to be updated so that the Servlet API JAR from Tomcat lib directory is used.
Designer - Add %TPCL_HOME%/tomcat/9/lib as the first entry to tibco.env.CUSTOM_CP_EXT in designer.tra
Deployed application - Add %TPCL_HOME%/tomcat/9/lib as the first entry to tibco.env.CUSTOM_EXT_PREPEND_CP in bwengine.tra. Then redeploy the application.
Another option is to use server type HttpComponent in HTTP Connection.
Issue/Introduction
HTTP service using server type Tomcat fails to start when REST/JSON plug-in is installed