How to prevent the default home rewrite to a static page

I’m looking for a way to prevent the default behaviour (when you have a static page set as the site homepage or ‘frontpage’ (in settings>reading>front page displays );

I want the domain.com/ page to point here (as it does), but if I made a page home, which would otherwise live at domain.com/home WordPress automatically redirects to domain.com, and so there’s no way of visiting and staying on domain.com/home.

Does anyone have a clue how/where to do this? I’ve tried investigating php $_SERVER variables and attempting to alter rewrite rules, but I don’t find a rule therein that matches this situation reliably. (There is one rule to a page with the home page id, but then I cannot target this reliably (and I think it’s actually routing domain.com/ -> domain.com/home.)

To reiterate (and perhaps clarify), how does one make the wordpress ‘frontpage’ available at the domain root (as is default and working), but also at the page’s default permalink also…

The redirect is thanks to redirect_canonical() – we can simply swoop in with a filter and disable it for the front page:

function wpse_184163_disable_canonical_front_page( $redirect ) {
    if ( is_page() && $front_page = get_option( 'page_on_front' ) ) {
        if ( is_page( $front_page ) )
            $redirect = false;
    }

    return $redirect;
}

add_filter( 'redirect_canonical', 'wpse_184163_disable_canonical_front_page' );

Now you can access the front page at the root and by it’s slug, no redirect.