Sh404SEF is sooo great, if you seriously want to compete on Google with your website you must have SH404SEF. It would be good if you could have more settings for SEF tweaking in the Joomla core -but this is not the case. So, this leave you to have some SEF extension to build your SEF-URLs the way you like it, SH404SEF will help you with this.
SH404SEF is available to a reasonable price and you got great support from their forum.
Support for many third-party extensions, including Jomsocial, Virtuemart etc
Can be hard to get started, there are many settings, it takes lots of trying and several sites to build the perfect SEF-URLs for your website.