By default WordPress uses web URLs which have question marks and lots of numbers in them; however, WordPress offers you the ability to create a custom URL structure for your permalinks and archives. This can improve the aesthetics, usability, and forward-compatibility of your links. A number of tags are available, and here are some examples to get you started.
could I just select radio buttons to have descriptive (no ?/numbers) urls
Or do I need a special plugin
Is this only for permalinks because I want this on entire website