I wouldn't suggest this sort of self-damage; I've been there and I've made the mistakes. Servlets, as written, are lousy abstractions for HTTP. Worse, where the abstraction breaks to expose HTTP to you, it doesn't really do much in the way of enabling you to do anything you couldn't before.

If you want to use the JVM, one: use Kotlin over Java, it is a strict superset and a better development experience across the board. Two: evaluate something like Dropwizard (or even Spring Boot) well before you go near servlets. JAX-RS is not perfect, but it's a lot better than whatever you will home-roll. (Again, been there.)