type ParseUrlParamsRaw<Url> = Url extends `${infer Start}/${infer Rest}`
  ? ParseUrlParamsRaw<Start> & ParseUrlParamsRaw<Rest>
  : Url extends `{${infer Param}}`
    ? { [P in Param]: string }
    : {};

// ParseUrlParamsRaw allows passing objects with any keys (i.e. `{name: "foo"}`) even though
// an empty object is expected (`{}`). This type constraint enforces this by checking if
// the result of ParseUrlParamsRaw<Url> is `{}`. `keyof {}` evaluates to `never`, so
// when `{}` is evaluated an empty Record is expected, otherwise the result of
// ParseUrlParamsRaw is expected.
type ParseUrlParams<Url> = keyof ParseUrlParamsRaw<Url> extends never
  ? Record<string, never>
  : ParseUrlParamsRaw<Url>;

function navigate<P extends string>(path: P, params: ParseUrlParams<P>) {
  // ...
}

function main() {
  navigate("/hello", {});
  navigate("/hello/{name}", { name: "foo" });
}