Hey Mark,
When posting questions like this it's especially important to let us know what web browser you're using – that greatly affects the possible solutions.
@griffman built a system quite recently
An Automatic URL Decrufter for Defined Hosts
You may also want to look at this critter:
StopTheMadness on the Mac App Store
Peter recommended it to me.
I haven't tried it out, because I thought it was for Safari only – but it supports Google Chrome, Microsoft Edge, and Brave Browser.
$10.00 on the App-Store, but that's pretty cheap for all the goodies it has.
-Chris