Repository: auth0/nextjs-auth0 (ts)

Issue:
withMiddlewareAuthRequired returnTo param should not be full URL
### Checklist

- [X] The issue can be reproduced in the [sample app](https://github.com/auth0-samples/auth0-nextjs-samples/tree/main/Sample-01) (or N/A).
- [X] I have looked into the [README](https://github.com/auth0/nextjs-auth0#readme) and have not found a suitable solution or answer.
- [X] I have looked into the [examples](https://github.com/auth0/nextjs-auth0/blob/main/EXAMPLES.md) and have not found a suitable solution or answer.
- [X] I have looked into the [API documentation](https://auth0.github.io/nextjs-auth0/) and have not found a suitable solution or answer.
- [X] I have searched the [issues](https://github.com/auth0/nextjs-auth0/issues) and have not found a suitable solution or answer.
- [X] I have searched the [Auth0 Community](https://community.auth0.com/c/sdks/5) forums and have not found a suitable solution or answer.
- [X] I agree to the terms within the [Auth0 Code of Conduct](https://github.com/auth0/open-source-template/blob/master/CODE-OF-CONDUCT.md).

### Description

I have implemented `withMiddlewareAuthRequired` to protect our pages. The `returnTo` param that is added automatically as redirect when navigating to a protected page directly contains the full URL instead of a relative path to the page. 

I expect a relative URL to be set as described in the docs: 
"`/api/auth/login`: Your Next.js application redirects users to your identity provider for them to log in (you can optionally pass a returnTo parameter to return to a custom relative URL after login, for example /api/auth/login?returnTo=/profile)."

We host our app as a container and in that environment it still shows localhost as the domain instead of our custom domain. (ex. "/api/auth/login?returnTo=http://localhost:3000/profile")

Also, these [docs](https://auth0.github.io/nextjs-auth0/modules/helpers_with_middleware_auth_required.html) could use some updates. This import does not work:
`import { withMiddlewareAuthRequired } from '@auth0/nextjs-auth0/middleware';`
But this does:
`import { withMiddlewareAuthRequired } from '@auth0/nextjs-auth0/edge';`

### Reproduction

1. Sample repo: https://github.com/auth0-samples/auth0-nextjs-samples/compare/main...zcarlson-gmgt:auth0-nextjs-samples:main
2. Implement middleware authentication using the following: 
`import { withMiddlewareAuthRequired } from '@auth0/nextjs-auth0/edge';
export default withMiddlewareAuthRequired();`

1. Navigate to a page that should be protected (ex. localhost:3000/profile)
1. See that the `returnTo` param is set to localhost:3000/profile instead of /profile


### SDK version

2.1.0

### Next.js version

13.1

### Node.js version

18.12.0

Pull request:
withMiddlewareAuthRequired returnTo should be a relative url
### 📋 Changes

`withMiddlewareAuthRequired` `returnTo` should be a relative url - this is consistent with `withPageAuthRequired` (CSR and SSR)

### 📎 References

fixes #1025

Patch:
diff --git a/src/helpers/with-middleware-auth-required.ts b/src/helpers/with-middleware-auth-required.ts
index 4bb6b2dc..80034ef6 100644
--- a/src/helpers/with-middleware-auth-required.ts
+++ b/src/helpers/with-middleware-auth-required.ts
@@ -55,7 +55,7 @@ export default function withMiddlewareAuthRequiredFactory(
   return function withMiddlewareAuthRequired(middleware?): NextMiddleware {
     return async function wrappedMiddleware(...args) {
       const [req] = args;
-      const { pathname, origin } = req.nextUrl;
+      const { pathname, origin, search } = req.nextUrl;
       const ignorePaths = [login, callback, unauthorized, '/_next', '/favicon.ico'];
       if (ignorePaths.some((p) => pathname.startsWith(p))) {
         return;
@@ -70,7 +70,7 @@ export default function withMiddlewareAuthRequiredFactory(
           return NextResponse.rewrite(new URL(unauthorized, origin), { status: 401 });
         }
         return NextResponse.redirect(
-          new URL(`${login}?returnTo=${encodeURIComponent(req.nextUrl.toString())}`, origin)
+          new URL(`${login}?returnTo=${encodeURIComponent(`${pathname}${search}`)}`, origin)
         );
       }
       const res = await (middleware && middleware(...args));


Test patch:
diff --git a/tests/helpers/with-middleware-auth-required.test.ts b/tests/helpers/with-middleware-auth-required.test.ts
index 78f4a769..b5bf9e1e 100644
--- a/tests/helpers/with-middleware-auth-required.test.ts
+++ b/tests/helpers/with-middleware-auth-required.test.ts
@@ -52,7 +52,7 @@ describe('with-middleware-auth-required', () => {
       hostname: 'example.com',
       pathname: '/api/auth/login'
     });
-    expect(redirect.searchParams.get('returnTo')).toEqual('http://example.com/');
+    expect(redirect.searchParams.get('returnTo')).toEqual('/');
   });
 
   test('require auth on anonymous requests to api routes', async () => {
@@ -77,7 +77,7 @@ describe('with-middleware-auth-required', () => {
       hostname: 'example.com',
       pathname: '/api/auth/login'
     });
-    expect(redirect.searchParams.get('returnTo')).toEqual('http://example.com/foo/bar?baz=hello');
+    expect(redirect.searchParams.get('returnTo')).toEqual('/foo/bar?baz=hello');
   });
 
   test('should ignore static urls', async () => {