Is mysite.com/index.php/about/ good enough for google???

yes, http://www.gotoandplay.com/index.php/about/
works well as a folder name and thuis helping better indexing the search engine results.

And as tauquil says, use the google sitemap generator.

Good Luck with that.

I wrote a little about my experiences with the google sitemap on my site.

I don’t see it as a bad thing. I don’t think there’s a huge benefit to be had apart from helping google index your site.