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So I contacted PowerDNN to see if this can be fixed.  This was the reply.

 I looked in the web.config and found that DNN's built in Advanced URL Management was turned off. I turned that on for you and now you have extensionless URLs, however, if a page has a space in it's name, there will be a hyphen in place of the space

Adding hyphens is not acceptable because it essentially breaks all other links to the site.  I reversed this change.

e.g. if you had a About Us, Board Members page...  you used to be able to get use:

http://mysite.com/AboutUs/BoardMembers.aspx

or

http://mysite.com/AboutUs/BoardMembers

.....

Now with the web.config changes, I have to use:

http://mysite.com/About-Us/Board-Members

This breaks all old links to the site.

Thanks Sebastian --

I try to avoid solutions that are not part of the core due to long term support concerns.

Nothing changed on my site except the upgrade to 7.4.  Again, the sites running on 7.3 on the same hosting account work find with extensionless URLs.

This is a major breaking change for all sites, previous e-mails, etc that link to my site...