Years ago, I created a website for a client who wanted SEO URIs and it's been operating great for those years.
Personally, I loathe the query string using a numeric ID because that tells visitors (hackers) too much about how to target the website ... not to mention the simple fact that visitors don't know what they're linking to.
Go have a look at the website http://wilderness-wally.com.
Oh, the downside to SEO URIs is it that the client knows what characters are not acceptable in a URI AND that each article's title must be unique (it's enforced by the database).
ID's are auto-incremented and are unique keys, too, but they convey nothing to the visitor except the name of your file handler, your language (PHP in your case) and the fact that the database is accessed by numeric IDs.