Configure.php

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<?php
namespace Magento\Checkout\Controller\Cart;

use Magento\Framework\App\Action\HttpGetActionInterface as HttpGetActionInterface;
use Magento\Framework;
use Magento\Framework\Controller\ResultFactory;

class Configure extends \Magento\Checkout\Controller\Cart implements HttpGetActionInterface
{
    protected $resultPageFactory;

    public function __construct(
        Framework\App\Action\Context $context,
        Framework\App\Config\ScopeConfigInterface $scopeConfig,
        \Magento\Checkout\Model\Session $checkoutSession,
        \Magento\Store\Model\StoreManagerInterface $storeManager,
        \Magento\Framework\Data\Form\FormKey\Validator $formKeyValidator,
        \Magento\Checkout\Model\Cart $cart
    ) {
        parent::__construct(
            $context,
            $scopeConfig,
            $checkoutSession,
            $storeManager,
            $formKeyValidator,
            $cart
        );
    }

    public function execute()
    {
        // Extract item and product to configure
        $id = (int)$this->getRequest()->getParam('id');
        $productId = (int)$this->getRequest()->getParam('product_id');
        $quoteItem = null;
        if ($id) {
            $quoteItem = $this->cart->getQuote()->getItemById($id);
        }

        try {
            if (!$quoteItem || $productId != $quoteItem->getProduct()->getId()) {
                $this->messageManager->addErrorMessage(
                    __("The quote item isn't found. Verify the item and try again.")
                );
                return $this->resultFactory->create(ResultFactory::TYPE_REDIRECT)->setPath('checkout/cart');
            }

            $params = new \Magento\Framework\DataObject();
            $params->setCategoryId(false);
            $params->setConfigureMode(true);
            $params->setBuyRequest($quoteItem->getBuyRequest());

            $resultPage = $this->resultFactory->create(ResultFactory::TYPE_PAGE);
            $this->_objectManager->get(\Magento\Catalog\Helper\Product\View::class)
                ->prepareAndRender(
                    $resultPage,
                    $quoteItem->getProduct()->getId(),
                    $this,
                    $params
                );
            return $resultPage;
        } catch (\Exception $e) {
            $this->messageManager->addErrorMessage(__('We cannot configure the product.'));
            $this->_objectManager->get(\Psr\Log\LoggerInterface::class)->critical($e);
            return $this->_goBack();
        }
    }
}