By looking at your config I can see that you have followed the guidelines for setting up Piranha CMS for an existing project by setting passiveMode to true. Let me clarify a bit what this parameter does.
Passive mode is used for applications where you only want to use Piranha CMS as a backend content store and not handle any routing. This means that this parameter effectively turns off all url's to permalinks in the system to not interfere with the existing routes of the application.
If you want to mix your existing application controllers with pages solely generated by Piranha CMS you have to set passiveMode to false which will make the routing for permalinks active again.
Once this is done you will be able to access your pages with or without prefixless permalinks.
Regards
Håkan