... tomcat needs lot of libraries.
Are you concerned about memory usage? PC hard drives have plenty of it these days (and Tomcat is not that big), so I wouldn't make that a primary concern.
I don't even need tomcat
What does this mean? Is it a
Java web app, or not? You mention search, so there is an active server-side part to it? That would mean that an HTTP-only server (w/o
servlet support) would be insufficient.
Please advise on how we can create a own embedded server in few steps
Embedding Tomcat is pretty easy, and you'll find lots of tutorials for it, like
https://www.codejava.net/servers/tomcat/how-to-embed-tomcat-server-into-java-web-applications