The two I recommend the most under Zen Cart 1.5 are "Ultimate SEO URLs" and "CEON URI Mapper (SEO)". Which one is better? Both have tradeoffs and the answer depends upon the store itself. Currently if there is a NEED to keep URLs from a previous non Zen Cart based store or to have full control of your URLs - CEON is better. If you do a large number of imports, product update automation, the ability to switch between Dynamic / Rewritten URLs, or need to lower the number of SQL Queries to the database - Ultimate is better. Just a quick comparison - there are other factors as well.
I cannot speak towards the other offerings.
I'd have to agree - I never liked the word SEO in the names and would prefer simply URL or URI.
I took over maintaining one of these modules around the time Zen Cart 1.5 was released. The main reason was having a nice user friendly (human readable) URL was desirable to some of my clients. The name was left to enable existing users of the module to more quickly (and easily) find updated versions.
The discussion of "Why human readable URLs?" I'll leave to other threads.



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