You should always use the "real" URL for the active guide so that users can bookmark the guide and so the correct URL will be indexed by search engines. For the development version of the guide, you should still set up a friendly URL so that you don't need to do it all at once when you are ready to launch the guide. adding a "-dev" to the end of the friendly URL is a good choice. Here's an example:
I want to create a guide about Other Library Catalogues, but still need to refer to the current Drupal guide until my new guide is ready.
Step 1: Create a Redirect Guide point to the Drupal guide and use the friendly URL "other-library-catalogues". Publish this guide.
Step 2: Create my new guide about this topic but use the friendly URL ""other-library-catalogues-dev". Leave this guide unpublished.
Step 3: When I'm ready to launch my new guide, delete the Redirect Guide. Next edit my "dev" guide to change the friendly URL to "other-library-catalogues" and publish it.