Advice on best URL structure and how to achieve this?

Hi guys,

Just had a question regarding URL structure.

Ideally, I want to have something like this below as I have been advised this would be best for website optimisation etc.
https://gravity360/co.uk/360/fashion/photography/heel/red

I know WP now does it like this:
https://gravity360/co.uk/360/fashion/photography-heel-red
Is there any way to keep the forward strokes and make this customisable through Portfolio?

Note: The above links don't work, they are just examples. This is what we currently have and we are trying to get it to the top example.
https://gravity360.co.uk/360/red-shoe/

Would something like 'pretty permalinks' work?

Thanks for any help you can give me.

Cheers, Mark

PS. We are also having trouble with including the Category ie 'furniture', but this was posted to the forum previously.