functions.phpに下記コードを追加

function auto_post_slug( $slug, $post_ID, $post_status, $post_type ) {
    if ( preg_match( '/(%[0-9a-f]{2})+/', $slug ) ) {
        $slug = utf8_uri_encode( $post_type ) . '-' . $post_ID;
    }
    return $slug;
}
add_filter( 'wp_unique_post_slug', 'auto_post_slug', 10, 4 );