The importance of readable, understandable, and friendly URLs is often debated as various browsers hide the full contents of the address bar (or hide it completely) and more and more users type in searches rather than URLs.
However, URLs are structured and can provide metadata for search algorithms as well as users who come across raw URLs in documents such as syllabi, emails, and printed and visual media. We should also not fail to think about having to convey URLs via audible means, such as over the phone, video call, or for non- or low-sighted users.
Wikipedia, WordPress, LibGuides, and countless other platforms allow for the use of friendly URLs, as they still serve a purpose even though they might not have the presence in front of users as they once did.
Universal Design Principles can be applied to URLs that are landing pages, starting points, or close to the top of a site's hierarchy (first or second spot in a breadcrumb).
Therefore, "friendly" URLs should be conveyable. A short, understandable, keyword which is somewhat memorable.
It is recognized that not all platforms allow for friendly URLs, but when given the option it should be used.
In LibGuides, for example, note that not only can a guide have a friendly URL, but also each page under it.
"URL as UI" by Jakob Nielsen on Nielsen Norman Group (From 1999 but updated in 2005 and 2007 and will continue to be updated as user habits and expectations change.)
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