I don't agree with SEO friendly URL's. Just check it out DP itself, it has dynamic url's, still it gets indexed new thread in few minutes in Google. The main factor works having good posting and quality posting regularly made in forum, it will helps it a lot.
DP is the exception to the rule. It's like your saying that dynamic url's are better than SEO friendly URL's which simply isn't true.
Having unique title tags and quality content will help you out the most. Build the backlinks to get the pages indexed. rinse and repeat.
As far as getting indexed is concerned: -get lot of deeplinks.... links to inner pages of your site. -have a site map and submit it to google webmaster tools too. -interlink pages regularly (don't overdo it - I mean don't give 100 links from a single page..)