You can indicate which strategy you want to follow in the CMS.
In Magento admin, navigate to Stores > Configuration > Catalog > Tweakwise.
URL strategy
The settings related to URL generation can be found in the Layered Navigation section:
The dropdown lets you choose between two options:
- Query params: Magento's default strategy using querystring
- SEO Path slugs:
SEO related settings
Other SEO related settings can be found in the SEO section:
These settings can be helpful if you want to control what filters will be indexed. For example, if you just want brand & color to be indexable.