You need to add a custom permalink structure. The last time I did this I used this as a guide https://1fix.io/blog/2016/02/05/parent-from-another-cpt/
You’re basically going to be making one CPT child posts of another CPT. You can use a post object field for this in the same way that the parent is used in the document above.
In step 4 of the document you would set the permalink based on the settings of the fields.
Unfortunately you’ll need to to some testing and digging because I have only done this to make all of one post type the child of the other and the permalink is always altered. I do not know what extra steps you’ll need to take to make it not do it for all.
