If you ask me, no. I really don't have a problem showing a bunch of information in the URL.
You could hardcode URL's like /about/ if you took the time to write everything out in a .htaccess file (and if mod_rewrite was available):
RewriteEngine On
RewriteRule ^about/?$ index.php?id=2
RewriteRule ^contact/?$ index.php?id=3
RewriteRule ^help/?$ index.php?id=4
RewriteRule ^etc/?$ index.php?id=5
Basically, if you enter http://mysite.com/about OR http://mysite.com/about/ you'll be quietly redirected to http://mysite.com/index.php?id=2 .
If you want to require the trailing slash, remove the question mark before the dollar sign in all of the patterns.
Alternatively, to use the "/name/id/" method you talked about, i.e. /about/2/, you could do this:
RewriteEngine On
RewriteRule ^.+/([0-9]+)/?$ index.php?id=$1