Could you please try following, written with shown samples. Please make sure you clear your browser cache before testing your URLs.
RewriteEngine ON
RewriteCond %{QUERY_STRING} ^(plan=(?:basic|pro))$ [NC]
RewriteRule ^(signup)/?$ $1?%1-monthly [L]
2nd solution: Or you could try following too. Make sure you either put 1st solution rules OR this one at a time.
RewriteEngine ON
RewriteCond %{THE_REQUEST} s/(signup)?(plan=(?:basic|pro))s [NC]
RewriteRule ^ %1?%2-monthly [L]
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