Load Posts and Pages with Ajax

I’m working on a site where we need to load in all posts and pages with AJAX… This causes an issue though – we’d still like to be able to link people directly to specific posts/pages/etc. so we’d need to use some sort of history plugin, ideally one that utilizes jquery… I’ve found a few plugins that might have worked in other versions of WP, but don’t work in the 3+, or work as they say, but don’t leave you with very friendly url. For example, the plugin “Ajax for All” works, but leaves you with urls that look like this: https://www.mydomain.com/#url=http%3A//www.mydomain.com/name-of-post-or-page/

Ideally, the permalink would look more like this: https://www.mydomain.com/#name-of-post-or-page/

Does anyone either know how to change the permalink structure in the ‘Ajax for All’ plugin -OR- know of another plugin that works with WP 3+?

Thanks!