I always caution anyone about using any modifications/extension that cannot be backed out of easily and any SEO mod using URL rewriting falls into that category. These mods have come and gone going back to phpBB2, some compatible and some not. If you can't find something compatible you end up having to maintain it yourself or making extensive edits to existing mod.
Most of them should work for the most part going back to 3.0.0 or could be used as guide with some modifications. The biggest issue is knowing where everything is at you need modify and most of that code probably hasn't changed much if at all.
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