problems when trying to deploy a Spring application in Jboss 7.2, with Servlet initialization error

I have a Spring MVC application, using either version 4.3.11 or 4.3.23 where in Jboss 6.4 is working correctly, but when migrating to Jboss 7.2 we get java.lang.IllegalStateException: UT010041: The servlet context has already you have been initialized, you can only call this method from a ServletContainerInitializer or a ServletContextListener at the time of deployment. This seems to be related to the changes from Jboss to Undertow, but I could not understand what I need to do to get around it and make the application work.

I initially found it to be related to being using Spring 4.3.11 and upgraded to Spring 4.3.23 and also upgraded to JavaEE spec for 8. But in both versions, the problem persists.

11:27:09,088 ERROR [org.jboss.msc.service.fail] (ServerService Thread Pool -- 93) MSC000001: Failed to start service jboss.deployment.unit."sampleDojo-app-1.0.0-SNAPSHOT.war".undertow-deployment: org.jboss.msc.service.StartException in service jboss.deployment.unit."sampleDojo-app-1.0.0-SNAPSHOT.war".undertow-deployment: java.lang.IllegalStateException: UT010041: The servlet context has already been initialized, you can only call this method from a ServletContainerInitializer or a ServletContextListener
    at org.wildfly.extension.undertow.deployment.UndertowDeploymentService$1.run(UndertowDeploymentService.java:81)
    at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511)
    at java.util.concurrent.FutureTask.run(FutureTask.java:266)
    at org.jboss.threads.ContextClassLoaderSavingRunnable.run(ContextClassLoaderSavingRunnable.java:35)
    at org.jboss.threads.EnhancedQueueExecutor.safeRun(EnhancedQueueExecutor.java:1985)
    at org.jboss.threads.EnhancedQueueExecutor$ThreadBody.doRunTask(EnhancedQueueExecutor.java:1487)
    at org.jboss.threads.EnhancedQueueExecutor$ThreadBody.run(EnhancedQueueExecutor.java:1378)
    at java.lang.Thread.run(Thread.java:748)
    at org.jboss.threads.JBossThread.run(JBossThread.java:485)
Caused by: java.lang.IllegalStateException: UT010041: The servlet context has already been initialized, you can only call this method from a ServletContainerInitializer or a ServletContextListener
    at io.undertow.servlet.spec.ServletContextImpl.ensureNotInitialized(ServletContextImpl.java:955)
    at io.undertow.servlet.spec.ServletContextImpl.addFilter(ServletContextImpl.java:630)
    at br.com.itau.internet.core.impl.web.BaseAnnotationConfigServlet.addServletFilter(BaseAnnotationConfigServlet.java:67)
    at br.com.itau.internet.core.impl.web.BaseAnnotationConfigServlet.addServletFilters(BaseAnnotationConfigServlet.java:46)
    at br.com.itau.internet.core.impl.web.BaseAnnotationConfigServlet.initWebApplicationContext(BaseAnnotationConfigServlet.java:29)
    at org.springframework.web.servlet.FrameworkServlet.initServletBean(FrameworkServlet.java:494)
    at org.springframework.web.servlet.HttpServletBean.init(HttpServletBean.java:171)
    at javax.servlet.GenericServlet.init(GenericServlet.java:244)
    at io.undertow.servlet.core.LifecyleInterceptorInvocation.proceed(LifecyleInterceptorInvocation.java:117)
    at org.wildfly.extension.undertow.security.RunAsLifecycleInterceptor.init(RunAsLifecycleInterceptor.java:78)
    at io.undertow.servlet.core.LifecyleInterceptorInvocation.proceed(LifecyleInterceptorInvocation.java:103)
    at io.undertow.servlet.core.ManagedServlet$DefaultInstanceStrategy.start(ManagedServlet.java:303)
    at io.undertow.servlet.core.ManagedServlet.createServlet(ManagedServlet.java:143)
    at io.undertow.servlet.core.DeploymentManagerImpl$2.call(DeploymentManagerImpl.java:583)
    at io.undertow.servlet.core.DeploymentManagerImpl$2.call(DeploymentManagerImpl.java:554)
    at io.undertow.servlet.core.ServletRequestContextThreadSetupAction$1.call(ServletRequestContextThreadSetupAction.java:42)
    at io.undertow.servlet.core.ContextClassLoaderSetupAction$1.call(ContextClassLoaderSetupAction.java:43)
    at org.wildfly.extension.undertow.security.SecurityContextThreadSetupAction.lambda$create$0(SecurityContextThreadSetupAction.java:105)
    at org.wildfly.extension.undertow.deployment.UndertowDeploymentInfoService$UndertowThreadSetupAction.lambda$create$0(UndertowDeploymentInfoService.java:1502)
    at org.wildfly.extension.undertow.deployment.UndertowDeploymentInfoService$UndertowThreadSetupAction.lambda$create$0(UndertowDeploymentInfoService.java:1502)
    at org.wildfly.extension.undertow.deployment.UndertowDeploymentInfoService$UndertowThreadSetupAction.lambda$create$0(UndertowDeploymentInfoService.java:1502)
    at org.wildfly.extension.undertow.deployment.UndertowDeploymentInfoService$UndertowThreadSetupAction.lambda$create$0(UndertowDeploymentInfoService.java:1502)
    at io.undertow.servlet.core.DeploymentManagerImpl.start(DeploymentManagerImpl.java:596)
    at org.wildfly.extension.undertow.deployment.UndertowDeploymentService.startContext(UndertowDeploymentService.java:97)
    at org.wildfly.extension.undertow.deployment.UndertowDeploymentService$1.run(UndertowDeploymentService.java:78)
    ... 8 more

Unfortunately I do not have the option at the moment of migrating to Spring 5, I need these applications to work in Spring 4.x. I've looked all over the place, but I still can not figure out what could be wrong.