With free Magefan Blog Extension for Magento 2, you can set up different types of SEO-friendly URLs. To do this please go to:

Magento 2 Admin Panel > Stores > Configuration > Blog > Permalink Settings

Blog Route

By default all blog pages accessible via URL

https://mystore.com/blog/

To change this, edit "Blog Route" option. Via this parameter, you can make blog pages accessible throw URLs like:

https://mystore.com/news/
https://mystore.com/stories/

Blog Post URLs

URLs for blog posts may look like:

https://mystore.com/blog-route/post-route/category-title/post-title/
https://mystore.com/blog-route/category-route/category-title/post-title.html

1. To enable/disable post route into the URL use the option "Permalink Type".

2. To enable/disable category title into the URL use the option "Use Categories Path for Post URLs".

3. To remove/add/edit URL suffix (e.g.: .html) use the option "Post URL Suffix".

Blog Category URLs

URLs for blog categories may look like:

https://mystore.com/blog-route/category-route/parent-category-title/category-title/
https://mystore.com/blog-route/category-route/parent-category-title/category-title.html

1. To enable/disable category route into the URL use the option "Permalink Type".

2. To enable/disable parent category title into the URL use the option "Use Parent Category Path for Category URLs".

3. To remove/add/edit URL suffix (e.g.: .html) use the option "Category URL Suffix".