That structure you are running is what I’d stay with… that’s what I run.
That’s not cumbersome, looks nice, is good for SEO, and carries a good bit of info right there. What you want to go to would have been fine at the start but I’d still prefer what you have with the full date info and post name.
The original links are right ‘cobby’ looking with nothing but a post number… Those still work even with the pretty permalinks enabled. If you change permalinks then you’ll want to create redirects for the old ones to point to the new. That’s just one more place for a mistake. Mistakes are not conducive to running a well-maintained website… Avoid!
If you ever do need a redirect then this is what I use to create redirects… Easy and fewer mistakes.
https://www.rapidtables.com/web/tools/redirect-generator.html
If you are thinking ‘SEO benefit’ then I’d forget completely any ideas of changing permalinks any further. Put your efforts into content and creating a good user experience.