Make Forward Page in wordpress

I have a custom page that make download link for users, I made this page with Page Templates formats and use it on my site like this: example.com/name_of_post/download.php?id=name_of_post
what Im’ looking to do now is there any way that I could have this page in this format:
example.com/name_of_post/download/ and send parameters (id=name_of_post) with session or other method

PHP Version : ea-php73