I've implemented a SEO friendly version of a SXA listing page using the search components. What I actually did was creating a custom component that uses the scope defined in SXA to do the search, as well as the pagination from SXA. The output is done with variants so we are reusing lots of SXA stuff.
It's a bit much to show all code here. The pagination part can be found on https://ggullentops.blogspot.com/2018/12/sxa-pagination-on-custom-component.html. The reuse of the scope will be done in the near future..