Is it possible to customize url/paths?

-- HikaShop version -- : 2.6.4
-- Joomla version -- : 3.6.5
-- Browser(s) name and version -- : Chrome

Hey Hikashop Family,

I am really wanting to see if I can somehow update all product url's before I decide to send signals to the search engines for indexing. It's brand new site so I feel however I want the url's to work this would be the best time instead of waiting months after and facing 301 redirects. I have all hikashop seo settings disabled currently.

Currently my structure is:
domain.com/t-shirts/products/4054-god-is...gory_pathway-13.html

The site will be selling shirts and each product will be tied to a men/woman(shirt category under gender) category & also a collection/brand name. I know i can manually go and edit each page url but of course prefer the urls be created automatically if possible as option below

Is it possible somehow to make the url look as one the options below:
domain.com/collection/inspiration/godisl...omen-longsleeve.html
domina.com/women/tshirt/godislovewords-women-longsleeve.html

Thanks N Advance

thanks so much for response. I think the menu option might be best, I am actually using sh404sef but don't want to have to manually update a url everytime a new product is added and prefer automation somehow. So where would I place the collection in my following menu layout??

I'd like url structure:
www.domain.com/men/tshirt/collection/inspiration/product.html

I have the url structure working how i'd like everything to flow but none of the pages are showing in the url manager section of sh404sef once I change the settings to use Joomla Router.php. Is it no longer possible to manage hikahop urls with SH404sef? If I change the setting to just router.php the pages show in url manager but they are not the same structure and some pages are broken.