Unless you create unreadable permalinks by introducing absolutely irrelevant context into them (or your topics/post titles are just THAT irrelevant), using WordPress' permalink structure should produce no problems and can actually offer advantages to the viewers who come across your site.
I agree that in terms of Google, dynamic URLs are 'just fine' to them and can supposedly/probably produce equivalent results to static URLS, but I also believe and see that the article is geared towards people who have weird-looking multi-part dynamic URLs trying to do rewrites and rewriting them in ways that are actually worse for Google.
Maybe it's just my opinion, but the evidence is in the URL you posted.
If Google were so anti dynamic-URLs-being-changed-to-static-lookalikes, they themselves wouldn't have used pretty permalinks for their own blog post URLs.
Again, maybe it's just my own two pennies, BUT:
IF ANYONE is planning on creating themes that can be exported to other WPs or used by other people who DO like using 'pretty' permalinks regardless of possible SEO and Googling troubles:
It is honestly best to use the structure I just described for your links used within the theme.
Links in posts need to be/should be hardcoded, but links within the theme to images and the like can use the php WP code to ensure that NO matter what links someone chooses, their image links and such won't break.