It drives me nuts that a whole industry exists on the premise that Google is some kind of idiotic entity that needs to be force-fed content in some kind of 'magic format' in order for it to index it. Nothing could be further from the truth.
The idea that URL format a is in some way favourable to format b is frankly laughable. Provided your URLs work (ie: reliably point to content) and are not a billion characters long, Google will index them without a problem. Further, it would be ridiculous for search engines to in some way prioritise the content of a URL string over the content of the page to which it points, and surprise surprise, no search engines do so. There was a time when URLs that included textual references to their content were called human readable. Nothing has actually changed since then.