Usually the best bet is to disable the add-on if it's not functioning properly after WP has been upgraded. Disable your SEO plugin, retry viewing the URL, and then see if it was fixed. You can check with the publisher to see if they are rolling out a new version for the upgrade.
As a note, you might want to re-save your permalink settings so it flips a trigger in the database.
Also, if worse comes to worst, if it's merely appending an odd string at the end of the URL, you can just go into the database and erase it, but only do that if you know what you're doing.
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