Even though Joomla has improved in cleaning up its URLs its still not search engine friendly or customizable like WordPress. IDs are still present for articles and categories which makes the urls lengthy, unclean and not great for search engine results. Joomla! is about to address this issue shortly in the upcoming releases however we are not exactly sure if they would be addressed and on what timelines they would be resolved.
It was widely expected that Joomla! 3.7.x would have a fix for this issue which has been years delayed now. However, it dint happen in the recent release. To fix this, we have identified an third party extension. This can get rid of IDs in the URLs in Joomla! 2.5 and above. Visit the website below, download the zip file and overwrite your existing files over FTP or a File Manager.