Simple URL structure by simple rewrite rule

register_post_type_taxonomy.php

<?php
function my_post_type() {
    register_post_type(
        'news',
        array(
            'public' => true,
            'has_archive' => true,
            'rewrite' => array(
                             'with_front' => false,
                             'slug' => 'my-post-type'
            )
        )
    );
}
add_action( 'init', 'my_post_type' );

// /my-post-type/1234/ Show post by ID but default slug.
function add_mypostype_rewrite_tag( $post_type ){
    if('my_post_type' === $post_type) {
        add_rewrite_tag('%my_post_type_id%', '([0-9]+)', 'post_type=my_post_type&p=');
        // Set diffrent name from post type.
        add_permastruct('my_post_type_id', 'my-post-type/%my_post_type_id%' );
    }
}
add_action('registered_post_type', 'add_mypostype_rewrite_tag', 10, 1 );

// Convert output url by the_permalink() etc.
function my_post_type_link( $link, $post ){
    if ( 'my_post_type' !== $post->post_type ) {
        return $link;
    }

    return home_url( '/my-post-type/' . $post->ID );
}
add_filter( 'post_type_link', 'my_post_type_link', 1, 2 );

// Set url structure /<custom_post_type>/<term>/
register_taxonomy(
    'my_taxonomy',
		array(
				'public'          => true,
				'show_ui'         => true,
				'show_in_rest'    => true,
		    'capability_type' => 'my_post_type',
		    'rewrite'         => false,
     )
);
		             
add_action( 'init', function(){ 
    add_rewrite_tag( '%my_type_tax%','([^/]+', 'post_type=my_custom_type&my_taxonomy=' );
    add_permastruct( 'my_custom_type_term', '/my-post-type/%my_type_tax%', array( 'with_front'=>false));
}, 10)