What actually is SEO friendly URL structure? An SEO friendly URL structure must follow these three factors.
URL should be accessible: First thing to consider is to have your sites URLs open for search engines. So that they can crawl and index your pages.
URL should be meaningful: URL should not contain numbers and symbols. Also URLs should have a keyword that you are optimizing for.
URL should be straightforward: A single post in your site generates different URL which looks like duplicate content. Show importance for the right URL by specifying Canonical tag.

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