Dynamic pages and SEO friendly URL in the sitemap

I have a C #-created website that contains some dynamic pages. And I've recently added code to allow the use of SEO-friendly URLs.

For example, I have a page: "/products.aspx?itID=1" and you can also access it with "/ Product-Name".

My question is whether to include the SEO friendly URL in my sitemap instead of the actual URL. I think the answer is yes, but I am very new to this area and would be very happy to receive confirmation from someone with more experience.