The kind of links can be defined in admin/general. But the most user friendly one (the one on the top) will generate URLs such as the one on this question:
https://www.question2answer.org/qa/98795/what-links-that-my-site-uses
Or, in more abstract terms:
<base-site-url>/<question-id>/<title-in-simplified-form>
The number is incremented on each post and is the ID of each post in the database. The rest is irrelevant in technical terms but helps for SEO.
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