It seems that squid only "sees" the domain name for https requests.
Is there any way to configure it so that the full url can be logged and/or matched within ACLs?
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No, there is no way. It is within the encrypted channel. There are other tools that permit you to perform a man-in-the-middle attack, which make this possible. They are tricky to setup since they require you to setup a CA, and install a certificate on every client machine.