You can insert key {any} into the link. An example: /color-{any}/. For fields title and description - you can insert names of the terms that should be in the search query. For example insert the name of the current color: {pa_color}. To show taxonomy title use literal key {pa_color_title}. Example: Current season clothes of {pa_color_title} {pa_color}. Rule like "{pa_color_title} {pa_color}" will generate in the text: "Color red". Such rules can be set for each language with WPML plugin automatically,  for another plugins you can use hook woof_seo_rules_langs (read this extension documentation)