But I think they need the URL to contain the same info/address as the LMS it will hosted on.
That is definitely not a requirement of SCORM.
In fact, it's the absolute opposite of the ethos underpinning SCORM which is that a SCORM package should be 'portable' i.e. you should be able to upload it to any SCORM-conformant Learning Management System without needing to modify it in anyway.
Try publishing your course and uploading it to SCORM Cloud or Moodle, you'll see you don't need to modify it. Then ask your LMS people why it is not necessary to modify it for these LMSes but it is for theirs.
By the way, it's worth noting that Adapt does not set the URL of the course. It's the server the Adapt course is hosted on that defines this.
Adapt does 'append' to the URL, changing the location hash part - something that's pretty standard for single page web applications.
The thread you link to is a question about amending the page ids Adapt adds to the location hash to make them more readable for a course published from the authoring tool (which automatically generates page ids; in the framework you have to set these up yourself).