Can you use URL Params in Route filters, and if so, how would this be done?

[frm]

Say I want to make a prettier URL (more "Friendly") of the XF 2.3 prefix in XenForo questions and support forum:
https://xenforo.com/community/forums/xenforo-questions-and-support.25/?prefix_id=53

Is there a way to use Route filters (or Development mode Routes) to capture the prefix_id to create a URL like:
https://xenforo.com/community/forums/xenforo-questions-and-support.25/xf23
Can you use URL Params in Route filters, and if so, how would this be done?

free plugins
minecraft paid for free
mcmarket
mc-market
free minecraft paid plugins
free minecraft plugins
spigotmc
SpigotMC
aac free
ewg free
Minecraft Premium Plugins
ewg free download
litebans free
epicworldgenerator free
free schematics
leaked schematics minecraft
schematics
schematics leaked
schematics free
minecraft schematics free
paid minecraft schematics free
paid minecraft schematics for free
free cracked plugins
free cracked minecraft plugins
plugins
featherboard download
featherboard plugin download
antiaura download
xenforo leaked
xenforo for free
xenforo addons