Hi Manish,
Thank you for your message.
I am going to assume the application you are trying to scan is a single-page app and when you say Burp doesn't record the URLs, I suppose you mean they are not present in the Scanned URLs list. Correct me if I am wrong.
Burp works well with SPAs now and it shouldn't have a problem scanning the website. You can always refer to this doc on how to scan SPAs:
https://portswigger.net/burp/documentation/scanner/scanning-spasIf you still think that Burp is not covering all the URLs, you can run a verbose scan and check the logs to confirm if Burp is indeed visiting all the URLs. You can also use the SiteMap extension to print out a sitemap of the URLs that Burp visits. Here is the extension:
https://github.com/Hannah-PortSwigger/RetrieveSiteMapThe above extension only works for Burp Enterprise installed on a Linux machine.