It doesn't appear there has been any further activity in this area, other than those already mentioned in this thread. The author of the local_cleanurls plugin commented on GitHub to say he's on extended leave from Catalyst IT, so is not currently working on the plugin, and no-one else in the community seems to have picked it up. If this is a requirement for your Moodle site, you could try contacting Catalyst or another Moodle partner to see if they can provide you with a solution.
General developer forum
Moodle and clean URL's
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