Remove Taxonomy from URL

Hi,
I’ve installed this plugin.
I have a form on my website where I can insert two parameters to do a research. These parameters are “colors” and “car_models”.

When I do a search, I get an URL such as https://mywebsite.com/search/?colors=red&car_models=citycar.

I need to have URL like https://mywebsite.com/red/citycar.

How can I do that?

Thanks