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Looks like in Joomla there is a better way to solve this issue than using mod_rewrite. A big advantage seems to be that you do not have to rely only on the Apache server, i.e. if you want to use nginx.

Here some links I found on how to write a Custom Router in Joomla:

For Joomla 4

• https://www.dionysopoulos.me/book/com-router.html
• https://youtu.be/zqyjRuVaT8M
• Router for Joomla 4

For Joomla 3

• https://docs.joomla.org/J3.x:Supporting_SEF_URLs_in_your_component

If you know of better tutorials, feel free to post your links to this topic.

Edit: This thread should also be helpful: Joomla 4 Router forward to Controller function