I'm going to write some slightly speculative stuff here, as I won't be able to write more definitively without taking rather more time to investigate more deeply than I can at the moment.

It looks to me as though Dreamscape has done an outstanding job of taking advantage of Zen Cart's architecture to integrate this version of SEO URLs right into the core in a non-destructive way. A quick skim through his work suggests that this a model implementation blazing a trail for other mods to follow.

Admin Profiles on the other hand is still bolted onto the outside of Zen Cart and, in simplistic terms, is paying more attention to what's crossing the boundary than that which is already there.

I had hoped that this would be sufficient until release 1.6 of Zen Cart which really ought to take access control inside the core code. But Dreamscape has raised the bar, and 1.6 is too far away.

Thus some serious thought needs to be given to Admin Profiles structure. I have an inkling of a quick fix for this mod specifically, but even this will need significant evaluation and testing as I am not familiar with version 3, and would in any case prefer to spend the time taking Admin Profiles to the next level.