Posts URL structure like site.com/category/the-post-title

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Yes, any of those are possible and configurable under Settings > Permalinks. Have a look at the Permalinks page for other possibilities.

One thing to note though, it’s suggested to add a number at the beginning of your permalinks to reduce the number of rewrite rules WordPress has to generate to resolve all of your URLs.

The permalink strings for your examples would be:

/%category%/%postname%

/%category%/%post_id%

/%category%/%post_id%/%postname%

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