SEO audit reports dynamic URL, should I fix?

I ran a website auditor on my site – amoungst other things, it came back with a number of dynamic URL warnings in the form of:

https://mywebsite.com?P1023

The URLs point to posts and pages, the above might be:https://mywebsite.com/my-first-post

I googled “wordpress fix dynamic url” – the advice from most was to set permalinks to “post name”. Something like: settings->permalink->post name. However, this was already set.

I also have Yoast installed which I know handles canonical. Lastly, I searched for the dynamic URLs in both Bing and Google – not found, they just return for the post/page name versions of the URL.

Is there anything that I should do, or can I safely ignore these warnings?

Thanks

Christopher