Is there any way to get Menu driven URLs?

I have tried quite a few options in the SEO setup for EasyBlog but have not been able to find a way to generate URLs based on the full menu or full categories path. Is there a way to do this. For an example I have a 'recipes' section I am working on right now. It is located at https://www.drcarney.com/recipes

When you go to that page there are two posts so far. But, if I click on one of those posts the string "/recipes" does not appear in the url. Here is a url that displays: https://www.drcarney.com/blog/entry/happy-vegan-couple-banana-oat-pancakes-cooking-video

Unfortunately ALL my blogs follow this url pattern: https://www.drcarney.com/blog/entry/*

What I would like is for all the recipes to include the Menu Item URL followed by the EasyBlog Categories.

So, something more like: https://www.drcarney.com/recipes/breakfast/happy-vegan-couple-banana-oat-pancakes-cooking-video

etc...

I wish I could do that with my Articles section and my Data section and my Gems Section, etc...
which have the following URLs until you click on and item at which point the urls completely change back to all use /blogs/entry/ instead of the menu paths.

https://www.drcarney.com/articles

https://www.drcarney.com/data/disease-conditions

https://www.drcarney.com/gems/diabetes-success

etc...

I know I could solve this by creating a menu item for each blog but that is not a good idea. But, I am wondering if there is something else built into EasyBlog that I am missing?

Thanks, Sean