i think what you want is a sef url for each default opencart functionality correct? if is this, you can use a plugin, from anung, on official opencart board. The idea is a huge if/elseif with all default routes on "catalog/controller/common/seo_url.php", before checking the request path, like this:
} elseif ($this->request->get['_route_'] == 'contato') {
$this->request->get['route'] = 'information/contact';
} elseif ($this->request->get['_route_'] == 'account') {
$this->request->get['route'] = 'account/account';
} elseif (isset($this->request->get['path'])) {
and then, before checking if ($key == 'path'), you check you routes:
} elseif (isset($data['route']) && $data['route'] == 'information/contact') {
$url .= '/contato';
} elseif (isset($data['route']) && $data['route'] == 'account/account') {
$url .= '/account';
} elseif ($key == 'path') {
if you want the plugin, you can search it on official opencart board.