Depends on your definition of 'search engine friendly'.
Companies that sell software that create URLs that _dont_ contain keywords, but are within the SERPS will state that their software produces 'SEF' urls (as they are indexed)
Some people will tell you that without the 'keywords-in-the-url' the url is not SEF.
In reality you should use 'keywords-in-the-url' as it is far better for your site visitors and because there is a benefit to your ranking, it may be slight, perhaps very slight - but it is more than none.
If you have established pages indexed using singlepage?ref=1234 or similar and you can't do a 301 redirect for them all, you may be better to leaev them as they are.
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