for example in ios when I navigate from one page to another the URLs in nav bar are like this:
www.myweburl/module/id => www.myweburl/module/34hjasdsadasd4234
Instantly the screen reader reads the URL
Obviously, I want to prevent the screen reader from reading the id ("34hjasdsadasd4234"), and obviously, the id must be in the URL.
Is there any strategy or something that can be done in this case?
No. Address and navigation bar is part of the UI of the browser, which you fortunately don't have any control on.
IF you need to hide numeric IDs for security reasons, you must change URLs in such a way that numeric IDs don't appear at all, by replacing them by something impossible to guess. Universally unique identifiers (UUID) are known to do that pretty well.