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

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