cambiar %20 por – en URL para hacerla url friendly

Hola tengo un problema con mi url actual: https://www.ugocd.com/ilustracion_galeria_clasica?id=Retrato%20digital%20Salvador%20Dal%C3%AD

como veran es muy dificil de leerla, queria saber si podrian apoyarme porfavor para poder convertila a un tipo de url amigable del tipo que sea lea algo como:

https://www.ugocd.com/ilustracion/retrato-digital-salvador-dali

actualemente mi codigo htaccess:

RewriteEngine On

RewriteCond %{HTTPS} off

RewriteCond %{REQUEST_URI} !^/.well-known/acme-challenge/.+$

RewriteCond %{REQUEST_URI} !^/.well-known/cpanel-dcv/[0-9a-zA-Z_-]+$

RewriteCond %{REQUEST_URI} !^/.well-known/pki-validation/(?:\ Ballot169)?

RewriteCond %{REQUEST_URI} !^/.well-known/pki-validation/[A-F0-9]{32}.txt(?:\ Comodo\ DCV)?$

RewriteRule ^(.*)$ https://%{HTTP_HOST}%{REQUEST_URI} [L,R=301]

RewriteEngine on

RewriteCond %{REQUEST_FILENAME} !-d

RewriteCond %{REQUEST_FILENAME}.php -f

RewriteCond %{REQUEST_URI} !^/.well-known/acme-challenge/.+$

RewriteCond %{REQUEST_URI} !^/.well-known/cpanel-dcv/[0-9a-zA-Z_-]+$

RewriteCond %{REQUEST_URI} !^/.well-known/pki-validation/(?:\ Ballot169)?

RewriteCond %{REQUEST_URI} !^/.well-known/pki-validation/[A-F0-9]{32}.txt(?:\ Comodo\ DCV)?$

RewriteRule ^(.*)$ $ 1.php

RewriteEngine on

RewriteCond %{HTTP_HOST} ^ugocd.ennucomic.com$ [OR]

RewriteCond %{HTTP_HOST} ^www.ugocd.ennucomic.com$

RewriteCond %{REQUEST_URI} !^/.well-known/acme-challenge/.+$

RewriteCond %{REQUEST_URI} !^/.well-known/cpanel-dcv/[0-9a-zA-Z_-]+$

RewriteCond %{REQUEST_URI} !^/.well-known/pki-validation/(?:\ Ballot169)?

RewriteCond %{REQUEST_URI} !^/.well-known/pki-validation/[A-F0-9]{32}.txt(?:\ Comodo\ DCV)?$

RewriteRule ^/?$ “https://www.ugocd.com/” [R=301,L]

RewriteCond %{HTTP_HOST} ^www.ugocd.com$

RewriteCond %{REQUEST_URI} !^/.well-known/acme-challenge/.+$

RewriteCond %{REQUEST_URI} !^/.well-known/cpanel-dcv/[0-9a-zA-Z_-]+$

RewriteCond %{REQUEST_URI} !^/.well-known/pki-validation/(?:\ Ballot169)?

RewriteCond %{REQUEST_URI} !^/.well-known/pki-validation/[A-F0-9]{32}.txt(?:\ Comodo\ DCV)?$

RewriteRule ^/?$ “https://www.ugocd.com/” [R=301,L]