How to check SEO friendly URL?

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I want to know that How to check SEO friendly URL?

you should use the hyphen between two worlds in url

If you know the structure of SEO friendly URL, you can easy to identify whether it's SEO friendly or not. Generally, You can maintain the keyword, structure flow and avoid file extensions etc...

Check your website URL what you have use, if you are using underscope between two words in URL its not a SEO friendly, Once you have to used hyphen between two words its the seo friendly.

use keywords in your URL, try to exclude dynamic parameters.
If your URL matches your title its well and good.
Maintain your URL in such a way that is human readable.

Check if your webpage URLs are SEO friendly. In order for links to be SEO friendly, they should contain keywords relevant to the page's topic, and contain no spaces, underscores or other characters. You should avoid the use of parameters when possible, as they make URLs less inviting for users to click or share.

Google have tool