The blog extension provides a configuration for EXT:realurl.

To get nice looking URLs add the following realurl configuration to your project setup:

    'fixedPostVars' => [
        '<UID_CATEGORY_PAGE>' => 'tx_blog_category',
        '<UID_TAG_PAGE>' => 'tx_blog_tag',
        '<UID_ARCHIVE_PAGE>' => 'tx_blog_archive'
    ]