RFC 3986 Appendix B [1] "Parsing a URI Reference with a Regular Expression":
The following line is the regular expression for breaking-down a well-formed URI reference into its components.
^(([^:/?#]+):)?(//([^/?#]*))?([^?#]*)(\?([^#]*))?(#(.*))?
scheme = $2
authority = $4
path = $5
query = $7
fragment = $9
Let's test your URI with this regex, shall we? [2]
$2 (scheme) = http
$4 (authority) = [f021:d981:b487:e57d:193e:550e::]
$5 (path) = /
Seems correct to me.[1] https://datatracker.ietf.org/doc/html/rfc3986#appendix-B