Perhaps, but a well-designed URL structure is helpful when one sees a deep link to the site and wants to know what they'll find.

  example.com/how-to-bar-the-foo-v1

  docs.example.com/en/1.0/foo#bar

The latter form clearly presents the possibility of jumping straight to a different version's foo docs, to the docs homepage, etc. I'd consider this a quality of good UX.