Parent slug in Child Post URL

There is no way to do that with the Types plugin alone, but I’m sure you can do it by adding some rewrite rules: https://codex.www.ads-software.com/Class_Reference/WP_Rewrite

This is a WordPress thing and not something that we control in Types.

WordPress permalinks build a hierarchy for pages. Since Types parent / child relationship permits different parents to the same child, there’s no way to make the Types parent in the URL.