Depends. Do external sites link to your URLs? Do people bookmark/favorite your URLs? Are you prepared to permanently set up 301 Redirects to the corresponding new URL? Do you get any kind of traffic from that? How does it convert?
Becuase the ruling factor in your "change URLs" decision should be that organic traffic. That type of traffic is far better qualified than any search result traffic could be. Searchers are tire kicking. Link followers are pre-sold. SEO pays the bull, it doesn't pay the bills. Conversions do that.
To get better SEO at the expense of better traffic is like having an electric car and trading it in for a gas car to reduce your electric bill.
If you just don't get organic traffic, that is, if your traffic is all-search, than this is not a factor.
Also, keyword stuffing URLs is malarkey. It doesn't work, and people only do it because everybody else does it. It's another example of crass, blatant SEO where ranking engineers simply turned the dial to remove its usefulness as soon as it started to affect testing.
I design URLs for the people who are pasting them into customer support emails, forums or tweets... Short enough not to be awkward but rich enough I can tell what the link is when I am pasting it into a customer support email. I.E. not
example.com/product?i=43101415
Obviously there'll be some keywords in there, but that's not the point.