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Currently, tileMatrixSetId is a required path parameter to retrieve the XML WMTS capabilities document. However, shouldn't the capabilities document itself include the list of supported tile matrix sets (grids)?
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from what I remember the WMTS document can have multiple layers but one TMS https://github.com/developmentseed/titiler/blob/main/src/titiler/core/titiler/core/templates/wmts.xml#L55-L61
I could be mistaking
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