Go nuts.
It was a lot of work at first, but we eventually found some tricks to simplifying the process. The key was instead of manually creating a new topic, we made use of the /newtopic URL feature, and built a spreadsheet of all our KB articles:
Hopefully that’s enough to help you reverse engineer the process. 
To @cregox, SEO was actually more of a pleasant side effect. I typically think of SEO as a marketing tactic, although for us it’s almost entirely SEO for people to help themselves. Though really the lines behind customers service and marketing are blurring, and both are good things to have. 