I have upgraded magento from 2.1.8 EE to 2.3.1 EE. After upgrade the product page urls have changed, they should be in the format- https://site-url/parent-category/sub-category/product-name.html whereas they are rendering as - https://site-url/catalog/product/view/id/138/s/product-name/category/6/

Please provide a solution.

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