Notaku appends the Notion id at the end of the urls, a typical Notaku page url would look like this
Maybe you would instead want to have an url look like this:
parent-page/child-page, the problem with this approach is that if your urls are made of their titles then links would become invalid as soon as you change the Notion page title.
There is also the problem that if you change a Notion page title all of its children pages will become invalid.
These are the reasons why Notaku chooses to not implement pretty urls and instead focus on urls reliability.
If you really want pretty urls i could implement a bit.ly like feature to Notaku, this would create alias paths that redirect to the corresponding Notaku page. Please leave feedback on this feature if you are interested.