By default WordPress will do the following for your custom post types: post-type/post-type-slug/
For your Custom Taxonomy it will map it to: taxonomy-type/taxonomy-term/

You can customize these settings in Pods using the Rewrite, Custom Rewrite Slug and Rewrite with Front options under Advanced Options when editing your Pod. These correlate to the same parameter settings for rewrite from the register_post_type function in WordPress:

You can further customize these values using other plugins like Beautiful Taxonomy Filters or Custom Post Type Permalinks if you’re wanting to put the taxonomy ‘term’ into the slug for the individual item, but that is beyond the capabilities or scope of Pods. We support the default methods, though you can get creative with the rewrite url options mentioned above, but the WP Hierarchy still has to be ‘obeyed’ or you have to have a plugin that recognizes and ‘re-arranges’ the URL’s for SEO practices but not necessarily for organization.