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So in the end, it's really hit and miss and we have not found anything that is definite.
BTW our pages look like this viewprd.asp?idproduct=388. We experiented by removing "id" altogether and we still couldn't get it crawled or indexed.
From my experience, you're always better off with a SE friendly URL. Google (and other SE's) MAY or MAY NOT index a URL like the one listed above.
It only takes a little more work with your .htaccess file and PHP URL "explode" command to generate URLs that look like this:
It's really not much harder to do, and you'll be guranteed that you've got a URL that is not only easier on spiders, but also on your visitors.
I would also recommend if you use PHP Sessions to disable sessions for spiders.
If you need help doing any of these things, sticky me and I'll point you to the tutorials I used to re-write a large part of my site.
people can not seem to get dynamic pages crawled and indexed
For a simple URL, like /cgi-bin/myscript.pl?ref=1234 it does seem to work OK. One of my sites (which is old, hence the search-engine unfriendly URLs) has over 60,000 pages like this indexed fine (and they don't do too bad on searches either).
However, for the next version of the site I'll certainly switch to something like /main-section-minor-section-page-title.html (with a script back end, not static html). Seems to rank better on other sites I've tried it with, and makes more sense to a human when they see it in the search results, although a little longwinded.