Hey there Vin,
This format structure will not impact your SEO however I do recommend that you set the 301 redirects for Google.
The slash is conventionally a directory however without the slash is conventionally a file which in this case would be a page. Google treats each URL above separately (and equally) regardless of whether it’s a file or a directory, or it contains a trailing slash or it doesn’t contain a trailing slash.
I have found a great article that explains this in more detail you can find here