For people who want this feature but do not want to turn on internal flags, or are using a different browser, there's an extension that does this job.

ClearURLs Firefox: https://addons.mozilla.org/en-GB/firefox/addon/clearurls/

ClearURLs Chrome: https://chrome.google.com/webstore/detail/clearurls/lckanjgm...

The Firefox extension is also marked as a recommended extension, so presumably has gone through some policy scrutiny, if Mozilla docs are anything to go by: https://support.mozilla.org/en-US/kb/add-on-badges