I believe this package might be what you are looking for:

https://our.umbraco.org/projects/backoffice-extensions/omit-segments-url-provider/

Only by writing your own URL provider, which I imagine is quite tricky:

https://our.umbraco.org/documentation/reference/routing/request-pipeline/outbound-pipeline

If you want to implement it yourselves, there are mutliple ways to get there...

You can use

• IIS url rewrite rules (if rewriting can be done by convention) or
• UrlProviders and ContentFinders (if application logic is needed to return correct content, or for the parts that are harder to write with url rewrites)

Maybe you can use an example of an UrlProvider for stripping out a part of the url (in this example /companies/companyABC => /companyABC)

class CompanyUrlProvider : IUrlProvider
{
    public IEnumerable<string> GetOtherUrls(UmbracoContext umbracoContext, int id, Uri current)
    {
        return Enumerable.Empty<string>();
    }

public string GetUrl(UmbracoContext umbracoContext, int id, Uri current, UrlProviderMode mode)
    {
        var content = umbracoContext.ContentCache.GetById(id);
        //  Company url that starts from root
        if (content != null && content.DocumentTypeAlias == "umbCompany")
        {
            //The company node will have /<company> instead of /companies/<company>.
            return String.Format("/{0}/", content.UrlName);
        }
        return null;
    }
}

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