Screaming Frog SEO Spider is a website crawler that helps you improve onsite SEO by auditing for common SEO issues. Download & crawl 500 URLs for free, or buy a license to remove the limit & access advanced features.
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Direct Alias Pro 3.1.3
Allows you to control menu item alias and have short SEF URLs without including aliases of parent menu items. Removes IDs from Joomla content articles, categories and tags URLs.
Joomla native routing is not quite robust and you can't control how the SEF URL of menu item...