How to create catch-all module route

My module directories look like this:

<script>
app +
    - BlogModule    +
                    - presenters
                    - templates
    - DefaultModule +
                    - presenters
                    - templates
    - ContactModule +
                    - presenters
                    - templates
</script>

I would like to create a catch-all route, where a url, such as http://example.com/blog would load the BlogModule and http://example.com/contact would load the ContactModule, and the default, if no module is specified, or the url is not found, defaults to the DefaultModule.

I have tried using this:
code

<?php
final class RouterFactory
{
        use Nette\StaticClass;

        public static function createRouter(): RouteList
        {
                $router = new RouteList;
                /// $router->addRoute('<presenter>/<action>[/<id>]', 'Homepage:default');
                $router->addRoute('/blog', 'Blog:Default:default');
                $router->addRoute('/contact', 'Contact:Default:default');
                $router->addRoute('[<module>[/<presenter>[/<action>[/<id>]]]]', 'Default:Default:default');
                return $router;
        }
}
?>

The above routes work, however, the last route forwards the url to http://example.com/default/default.
Is there a way to have routes dynamically loaded, so a route is not required for all possible variations?
Is something needed in .htaccess which currently looks like this:

<script>
Require all denied
</script>