It's not possible. However it won't negatively impact your SEO, so don't worry.
Shopify is a billions dollar business, they have everything setup in the best way possible out of the box to make you thrive.
I'm currently testing Shopify and unfortunately I noticed exactly this problem with the URL paths. We are currently using Magento and are on the first page with some content pages. With this problem we would definitely lose places on google and thus also less sales. I would love to switch to Shopify, but please give us the opportunity. Not only shop operators would benefit from it, but Shopify itself too. Please give us a quick update. Thank you
I'm just one more developer in the sea of everybody who needs this feature.
I have to agree with everyone that the fact that this has been requested since 2015 (on another thread) and is still not implemented is confusing. I'm sure Shopify cares about it, if only for the sake of their own customer satisfaction, which leads me to believe that it must involve an overhaul of their whole framework. However, this doesn't quite make sense, as literally every web framework and webserver has methods to customize url's. I'm a software developer, so I understand that changing these is a significant time cost. But it definitely is possible if you have engineers worth their salt and product managers who know how to prioritize (with this issues having hundreds of people specifically requesting it, the priority should be clear, so it's either the engineers or the roadmap coordinators). As an engineer I also know how hard it is to promise specific timelines for a new feature, but to not have this issue actively being worked on (that has been communicated to us) by this point seems like a clear lack of appropriate prioritization.
I'm not a big van of the /pages /collections, etc., URL paths, but I think a lot of people here are pretty wrong on the impact of it on SEO. I thought when I switched to Shopify it would hurt my SEO due to the URL paths (but mostly I find them annoying), but they actually don't. For a lot of my main keywords I'm sitting #1 or #2, and others still on the first page. Maybe you should consider your SEO and copy is bad and that's why you're unsuccessful. Although I do wish they would get rid of it, I'm not convinced it hurts your SEO.