Possible to customize link structures using CMS?

I have created a website for a used-car dealership that I’m planning on starting here soon. I’ve created everything in the CMS and I have my cateogories for vehicle manufacturers and whatnot, but the link structure just isn’t to my liking.

For example, I can have http://sample.com/vehicles/this-is-the-vehicle and then http://sample.com/makes/ford and http://sample.com/category/coupe but is it not possible to have something like…