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Hello Peter,
I had this session ID's problem before with Google. You cannot clean the urls because the cart system was made for session ID's, when it was possible to help search engines with search engine friendly urls, the modifications duplicated the page products by two.
The session ID's are still live in background, but after creating a .Xml sitemap and canonical preference, fixed the problem.
I cannot use 301 htaccess and I don't see myself to redirect all product pages.
It is impossible to work with Yahoo, and Alexa, I contacted them long time ago with no succes, and I am sure they don't care.
You cannot change your system cart after each search engines SEO updates, or hot for SEO purpose.
I found using robots.txt work only with Google.
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