Category in SEO and URL rewrite

[jaggop]

I am having an issue with URL rewriting:

 

I have changed my route to products to {categories:/}{rewrite}_{id}.html, which works like I want it to; I get the path to the product included in the URL, so that can be myurl.com/category/subcategory/subsubcategory/product_X.html

 

But my categories end up being named myurl.com/subsubcategory, which is inconsistent; I want them to be myurl.com/category/subcategory/subsubcategory/ (preferably without the ID, but that doesn't seem to be possible).

 

I've tried {category:/}{rewrite}_{id}, but that doesn't seem to change my link URL's in the menu - on the other hand, it makes all my links fail.

 

I'm currently running 1.6.0.5, upgrading to 1.6.0.6 some time later today - is there any way I can get this to work without rewriting Dispatcher.php? I'd rather not change my standard files, it would be a bother with future upgrades