Hi morvy,
It's possible, but it will be a pain in the ass to do so.
You need to modify the way the link is created (hDefines.php)
And also the .htacess rules to catch them
The problem is that
yoursite.com/text_here is now asociated to categories
and
yoursite.com/text_here-pX with pages, if you remove "-pX", then, there's no way to tell the difference between an url for categories or for a page.
In the future (not too soon, not too far), users will be able to create their own links via an admin option
Thanks for the suggestion