You want to implement a rewriting rule:
RewriteEngine on
RewriteRule ^/?s/item/(d+)$ /s/item?id=$1 [QSA,END]
This also means that you have to change your application logic such that it actually uses those URLs.
Such rule can be implemented in a distributed configuration file, but if possible you should prefer to place it in the actual http server's host configuration. Various reasons for that.
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