URL Rewrite with Custom Variables

I right now have a custom post type with a url structure like:

example.com/videos/taxonomyname/

I have a custom variable that I am detecting in the template file to switch layout views which works fine but the URLs are setup like:

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example.com/videos/taxonomyname/?template=g

I am wanting the URLs to look like

example.com/videos/taxonomyname/g/ 

Mainly because of pagination is not working properly with ?template=g when you try and page it sets the URLs as

example.com/videos/taxonomyname/page/1/?template=g 

which then returns a 404.

I have read some of the past articles. However was unable to get the URLs working properly partly due to the taxonomy name.

How can I get this right?

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