I prefer the way XF has it as well. I never particularly liked /234/567/title or odd combinations of it. The only time I didn't mind that was for blogs or news articles that I could tell the date by the URL (2008/6/16).
I like the third one too. In fact, I am not a big fan of XF's current URL structure. The argument that we read left to right is a moot point considering that the title is now wedge in the middle of the domain and ID/Request parameters.
It's much easier, for me atleast, to focus on the end of a string to get the relevant title.