SEO Friendly URL in WP Theme ?

I am facing a great problem.

my developer build a website and we are upload all the data through XML file. If you see all the listing are coming from XML Feed
Check the URL

https://qproduction.co.uk/surreyvale/properties-for-sales/
Know if you click on image and more detail it gives you this kind of URL

https://qproduction.co.uk/surreyvale/custom-property-detail/?prop_id=260

We can want to make it a SEO friendly URL like this one

https://qproduction.co.uk/surreyvale/properties-for-sale/id-title-of-property
Here is the Code that we are using. How can we change it so it will display SEO friendly URL

<figure>
/custom-property-detail/?prop_id=<?php echo $property->wp_properties_id ?>”>
<img width=”244″ height=”163″ src=”<?php echo $image_property; ?>” class=”attachment-property-thumb-image wp-post-image” alt=”property 10″ />

<figcaption class=”for-rent”><?php echo $property_status; ?></figcaption>
</figure>

<div class=”detail”>
<h5 class=”price”>
<?php echo $property->PRICE?><small> – <?php echo $property->TOWN; ?></small> </h5>
<p><?php echo $property->SUMMARY; ?></p>
/custom-property-detail/?prop_id=<?php echo $property->wp_properties_id ?>”>More Details <i class=”fa fa-caret-right”></i>
</div>

Please help me to solve this problem