I think you may set interaction “Query AJAX Loader (End)” with action “Javascript (Function)”. In interaction you may need to pass desired Arguments like url. Then your JS may be like so:
<script>
function updateURL( postUrl ) {
event.preventDefault();
history.pushState(null, '', postUrl);
}
</script>
Haven’t tried it. You would need to play with it but i think you may acheive what you want.