Matching URL Path to Bread Crumb

Hi, we are trying to update all our folio pages, trying match URL paths with breadcrumb for SEO purpose.

For example, we would like to change the URL from
https://swingslideclimb.com.au/portfolio-item/manor-playset/
to
https://swingslideclimb.com.au/multi_playsets/manor-playset
The current URL for this page is

Is there any way we can have this change to the folio URL across the website?
We have five main categories, we want this change for all 5 categories.