I'm using Ceon URI mapping with 11,000 products and I don't see it having any effect.
One thing I like is being able to import (by sql) alternate URLs from my old store in cases where URLs changed between the old and new stores
Some things that could be improved - having to modify it to use file extensions like .html and to have a trailing slash if there is no extension - which in my case is necessary to match old URLs -- and the store root folder name is hard-coded in every url - which complicates having testing and staging installs in different folder locations - which I shall modify to use the configured folder path from config.php
I don't think it has any auto-url-generation except when new products/categories are added after the mod is installed, any pre-existing pages have to be uri mapped independently by updating the DB
I haven't tried any of the other seo plugins
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