How should URLs be structured?

In a nutshell, URLs are important because they can clarify a website’s structure and organization to search engine crawlers and human users.

A URL (Uniform Resource Locator), more commonly known as a "web address," specifies the location of a resource (such as a web page) on the internet. URLs are important for users and search engines because they clarify the site structure and organization of a website.

A well-crafted URL provides both humans and search engines with an easy-to-understand indication of what the destination page will be about. Even if the title tag of this page were hidden, the human-readable, semantically accurate URL would still provide a clear idea of what the destination page is about, and would provide visitors with an improved user experience by making it clear what they'll see if they click the link.

A URL consists of a protocol, domain name, and path (which includes the specific subfolder structure where a page is located) and has the following basic format:

protocol://domain-name.top-level-domain/path/

A site's URL structure should be as simple as possible. Consider organizing your content so that URLs are constructed logically and in a manner that is most intelligible to humans.

When possible, use readable words rather than long ID numbers in your URLs.

Additional information:

https://developers.google.com/search/docs/advanced/guidelines/url-structure