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"I prefer to uses dashes rather than %20 as it looks cleaner and is more easily understood by the non-technically versed visitor."

Isn't "+" the standard alternative, also pretty readable?

Yes, + is definitely more common. Do non-technically versed visitors know and/or care about the different parts of a URL?

If you glance up at a URL and see a bunch of %20 it's going to just look like a mess, whereas seeing a short and relevant URL makes sense.