Hi,
If you don't like the way the URLs are generated and want a different structure of the URLs, it would indeed either require to enter each URL in SH404sef, or develop a custom integration to generate the URLs like you want. But such process is complex even for skilled developers. It would require a careful development by a professional developer to do that. So it's possible but it's not something we can just tell you to change one or two lines of code here and there to make it work like you want.
Regarding the page title, in each product, there is a "page title" setting where you can enter the page title that you want. So I don't see the problem you're having ?