This is not currently possible.
Category: Permalinks
What does the permalink of a review look like?
https://domainname/directory/listing/name-of-listing/reviews/postid
This cannot currently be customized.
Is it possible to create a permalink like domainname.com/location/category?
This is not currently possible.
How can I customize the permalinks used for listings (posts) and terms?
Yes, this is possible. See SEO Features in the Documentation.