Facing below error as in HTTP Request Defaults I haven't provided any HTTP in the server name/IP-
Response code: Non HTTP response code: java.net.URISyntaxException Response message: Non HTTP response message: Malformed IPv6 address at index 8:"TestURL"
It normally happens when you put protocol into "Server Name or IP" field of the HTTP Request Sampler (or HTTP Request Defaults) . You should not put anything but application under test hostname or IP address there.

If you are parameterising the whole URL - use "Path" section instead.

Actually I believe it would be much easier just to record your test using JMeter's HTTP(S) Test Script Recorder. See Apache JMeter proxy Step-by-step guide for more details.
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