The problem (as I see it) is the URL you get when you perform a search is really just a link to cached search results. The search query (url) itself actually looks a lot more like you would expect (with keywords in the URL) but it is not put in the final URL.
The actual keywords used in the query are technically saved in the "searchlog" table but the data is "serialized."
I suppose with an extra query on some search_results hook you could lookup the data from the searchlog table and attempt to reconstruct the URL, but I don't know if after the fact would be useful to Google or not. I suppose some sort of 301 redirect before the results are displayed could work but there is a lot of work and a lot of unknowns in trying something like this.
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