This is not so much specific to REST (although very common), it is more in the realm of TBL's "Cool URIs don't change" about URI design [1].
Even though the actual call to the REST service is opaque there is always a person that creates the calling application. Design an API that you would like/enjoy developing against.
What a strawman. Just because URI layout is orthogonal to REST does not make it a non-concern to REST proponents. It has nothing to do with REST. It is a good practice. Both are true.
It's only confusing if you think REST nebulously means merely "good web API design" or "good usage of HTTP."
Glad to see that - I'm seriously puzzled by the number of references I see to "RESTful URIs".