I was thrown a little about this change too, but eventually I found it makes the URL easier to read. I was unsure about having a case sensitive route in Yii1, in Yii2 I do not have this problem (or impression of a problem) anymore.
I am not sure about the exact reason, but I can tell you that for SEO it is better to have - separating words instead of having 1 big word.
When I rewrote an application in yii2, I put in the url manager all the old routes that i need to maintain.
'urlManager' => [
'class' => 'yiiwebUrlManager',
'enablePrettyUrl' => true,
'showScriptName' => false,
'rules' => [
.................................................
'site/registerInterest' => 'site/register-interest',
.................................................
],
],
So my old links work now just fine. You can also put a 301 redirect in .htaccess if you want from the old routes to the new ones to keep the SEO juice.
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