The profile URL with SEO enabled will be one of the following.
DOMAIN/MENU_ALIAS/USER_ID-URL_SAFE_USERNAME
DOMAIN/MENU_ALIAS/USERNAME
You can see this working on our demo site below.
demo.cbdemosites.com/profiles/susan
"profiles" is the Joomla menu alias for the menu item to CBs profile page. That will always exist otherwise Joomla won't know where to go.
As for groups in CB GroupJive it depends on the group, but is typically one of the following.
DOMAIN/MENU_ALIAS/CATEGORY_ID-CATEGORY_NAME/GROUP_ID-GROUP_NAME
Example as follows.
demo.cbdemosites.com/community/groups/1-community-builder-add-ons/5-cb-activity
In the above you can ignore "community" as that's just the parent menu item since "groups" is a child of another menu item. "groups" is the MENU_ALIAS noted above. "1-community-builder-add-ons" is the CATEGORY_ID-CATEGORY_NAME and "5-cb-activity" is the "GROUP_ID-GROUP_NAME".