Route url which is recommended to use underscore or dash?

I'm getting a little confused about choosing the more right URL i would appreciate if you could recommend which one is better

domain.com/admin/manage_vehicles

or

domain.com/admin/manage-vehicles

or

domain.com/admin/manage/vehicles

The 3rd way is the most user friendly way to make a URL.
It will be more useful when you have multiple routes of that same category.

domain.com/admin/manage/vehicles
domain.com/admin/manage/drivers
domain.com/admin/manage/passengers

But as an alternative, you can use the the 2nd way too.

domain.com/admin/manage-vehicles
domain.com/admin/manage-drivers
domain.com/admin/manage-passengers

• Hyphens are recommended by Google over underscores (source).
• Hyphens are more familiar to the end user.

And last of all, underscores and keyword joins are not recommended in URLs.

domain.com/admin/manage_vehicles
domain.com/admin/manageVehicles