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I read it, and the most relevant bit seems to be:

"Not ideally use parameters. If they need to be used the amount of parameters should be limited to two or fewer."

Is there any research that supports that 0 params is better then 1, and 1 is better than 2, etc?

Given the following urls:

example.com/warriors/ninjas/

example.com/warriors/ninjas/cid=WRS-NIN01

Is there any difference from an SEO perspective? Aesthetically the 2nd bugs me but that's not a statistical difference.

Thank you