Since pgrouting 3.4 the function pgr_trspVia is available.

Given a list of vertices and a graph, this function is equivalent to finding the shortest path between vertex(i) and vertex(i+1) for all i < sizeof(vertices) trying not to use restricted paths.

The paths represents the sections of the route.

The general algorithm is as follows:

Execute a pgrdijkstraVia - Proposed.
For the set of sub paths of the solution that pass through a restriction then
Execute the TRSP algorithm with restrictions for the paths.
NOTE when this is done, Uturnonedge flag is ignored.

https://docs.pgrouting.org/