How can the forum and thread ID be added to a URL rewriting process?

[.m.]

forum admin panel >> configuration >> Google SEO URL >> URL uniquifier enforcer

URL uniquifier enforcer
This option is NOT recommended.
If you set this to yes, Google SEO will be forced to use the uniquifier for all URLs without exception,
even if it's not necessary. Use this only if you absolutely want every URL to contain the ID.
If you enable this, a single separator will be sufficient for the uniquifier.

see also uniquifier - Google SEO plugin