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You will need to create/edit the htaccess file in your root directory and insert url rewrite management there so it does not publicly show certain terms (like index.php) and to replace other terms (like cart).
Does anyone knows a way to do that, or if it’s possible?
I found other methods, it requires some minimal development skills I am attaching a diff patch, is basically adding a router in your extension and changing the mage_core_model_url::getRoutePath in there I created a method called _translatePath you should fill it with your own rewrites.
PS, I have updated the diff since I noticed that I was overwritting the cms router config.