Article to Menu
As is often, Joomla will generate URLs with certain article IDs to set up two different articles that have the same alias. The auto-generated article ID will negatively affect the strategy, SEO, ranking, .etc. And the easiest way to remove article ID in URLs is create a menu link to this article by Article To Menu plugin.
Article To Menu plugin allows to auto create article menu or add the option in the edit page. In interface to edit or create a new article will have "Add to Menu" tab that includes the option to create article menu. This menu will display on Front-end through mod_menu module.