Unless you are going to publish direct URL's on external sites, there is no need to change your dynamic URL's to static URL's.

In fact, search engines prefer that url's are not re-written, and are more than capable of trawling and indexing content behind a dynamic URL. For about 10 years now, search engines have invested heavily in the development of their spidering algorithms to tackle dynamically generated pages, and can now follow internal links to considerable depth behind a dynamic URL.

There is no "SEO" advantage in converting your URL's. There may even be a risk associated with doing this as the SE's may trawl both the dynamic and static pages, and see duplicate content as a result. For this you will be penalised, and cleaning up the resultant mess can be onerous.

We have built a huge number of ZC sites, and never used "SEO URL" modules, and all the sites we have built feature very strongly on major search engines.

However, it is our company policy to encourage competitors to put their sites at greater risk, as this reduces competition for our clients' websites, so if you are in an industry shared by our clients, then please go ahead and install a SEO URL module.