Install this plugin

Custom Post Type Permalinks

Custom Post Type Permalinks

Then go to Settings – Permalinks and for estate_property add

Keep permalinks to custom from Custom Settings

Result

 

With the same plugin you can create a custom permalink structure for the custom post type, to include also custom taxonomies. Custom taxonomies are

%property_category%

%property_action_category%

%property_city%

%property_area%

These can be combined as in this example

/%property_action_category%/%property_area%/%property_city%/%property_category%/%post_id%/

In plugin settings

In front view