This sort of thing seems to be a common problem, considering the number of recent related problems on Joomla stack exchange, eg:

• Joomla 4: How to add a main menu item to the article?
• Short Url with FlexiContent Or Remove menu item alias from URL
• Joomla 4 - change in way URLs generated compared to Joomla 3

I believe that at least part of the problem stems from the router preprocess() function which (as far as I can see) doesn't attempt to find the best match between

• the view/layout etc parameters in the Route::_() call and
• the associated view/layout etc parameters in the menuitem.

In other words it seems to go with an Itemid if the component associated with the menuitem matches the option= parameter of the Route::_() call, but doesn't seek to match on other parameters such as view or layout. Those other parameters then need to get included by adding them as query parameters to the URL instead.

I think that it's important that SEF URLs are not only functional (in that they get you to the right page), but also aesthetically pleasing (rather than looking awkward with additional &view=...&layout=... parameters, which in this case could be avoided if the best menuitem was chosen).

(The router has changed from Joomla 3 to Joomla 4 in this area, and it has caused some issues for people who have had printed material produced which quoted the old URLs, or links from other sites. And there doesn't seem to be any Joomla configuration that can maintain the previous URLs, or govern what gets generated as the SEF URL.)

Can you check if #42989 improves this for you? It wont entirely fix it, but provide a slight improvement hopefully.

Since we have #42989, I'm closing this issue.