The same urls are just not happening without an insane amount of work I wouldn't recommend.
If you're going to upgrade, I would suggest uninstalling vbseo first, and doing the redirect to your old urls. Give it some time, then upgrade to vB5.
Upgrading from vb3/4 to 5 changes EVERY forum/post/thread id in the entire system. vBulletin 5 handles the 301 redirects from the default url structures in vBulletin 4. But not from vBSEO.
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