Kodo

Slug-Free Permalinks lets you switch selected post types and taxonomies to simple ID based permalink formats.
You can choose between:
<ul>
<li><code>/post/123/</code></li>
<li><code>/post-123/</code></li>
</ul>
The plugin only affects the post types and taxonomies you enable in the settings screen.
Features:
<ul>
<li>Select individual public post types</li>
<li>Select individual public taxonomies</li>
<li>Choose slash or hyphen based ID permalink format</li>
<li>Optionally redirect legacy slug URLs to the current ID based permalink when WordPress can resolve the request</li>
<li>Preserve prefixed permalink bases such as <code>/en/</code> when another plugin adds them</li>
<li>Flush rewrite rules automatically when settings change</li>
</ul>
This plugin is focused on permalink structure only. It does not add content features or front-end UI.
Plugin page (English): https://happas.jp/en/slug-free-permalinks/ 
Plugin page (Japanese): https://happas.jp/slug-free-permalinks/
Development repository: https://github.com/1008k/slug-free-permalinks
This plugin is best suited to new sites, sites still defining their permalink policy, or structured-content use cases where slug management is unnecessary.
If your site already has a large number of published posts and established slug based URLs, review the impact carefully before enabling it. Check existing inbound links, search traffic, social shares, and editorial workflow assumptions.
Known limitations:
<ul>
<li>If a post type slug and taxonomy slug are identical, their ID based rewrite patterns can conflict.</li>
</ul>

Slug-Free Permalinks – Simple ID-Based URLs

Use ID based permalinks for selected post types and taxonomies without managing slugs.

antithesisgr

This plugin allows you to use longer URLs (permalinks), by allowing much more characters in your titles and slug. The important is that this is done in a way that is future compatible with WordPress core updates. 
There is a 200 characters limitation on WordPress core nowadays and this limit is raised to 3000 with the plugin. 
Plugin is always extending the current WordPress core code – your long URLs will work even after WordPress core updates. 
This plugin is really useful especially in non-latin slugs because of the required url escaping that increases the length of your permalinks a lot.
<h4>Features</h4>
<ul>
<li>Upon activation the available slug length (post title) will become 3000, allowing long permalinks.</li>
<li>Required functionality is automatically applied without changing WordPress core files.</li>
<li>Even after core updates, plugin will automatically apply required changes and just keep your long URLs working.</li>
<li>Plugin requires at least MySQL 5.0.3</li>
</ul>

Longer Permalinks

Excellent plugin

Allow long permalinks in your WordPress. Useful especially for using non-latin characters in permalinks.  Respects future relevant core updates.

Slug-Free Permalinks – Simple ID-Based URLs vs Longer Permalinks