Explanation/Reference:
D: Scenario: Navigational links across the top should be driven by the term store and use URLs that will improve search engine ranking.
A: Simple links:
The HR node is configured with a link to a page the user will be taken to when clicking on the menu item:

BD: Enable Managed Navigation
This page allows you to select managed navigation for your global and current navigation.
Under Site Settings / Look and Feel click on Navigation.

Other settings on this page allow you to define the term set that will be used for navigation terms and if new pages created should be added to the term set automatically. You can also specify if friendly URL's should be created automatically.
Reference: Term based navigation in SharePoint 2013;SharePoint 2013 Friendly URLs and Managed Navigation