Can you use URL Params in Route filters, and if so, how would this be done?

Say I want to make a prettier URL (more "Friendly") of the XF 2.3 prefix in XenForo questions and support forum:
xenforo.com

Is there a way to use Route filters (or Development mode Routes) to capture the prefix_id to create a URL like:
https://xenforo.com/community/forums/xenforo-questions-and-support.25/xf23

Continue reading...