You need to look at catalog/includes/modules/ultimate_seo_urls5/page_modules/product_reviews.php
Change the query to extract the manufacturers name
Create code or a method to order the link_text array to manufacturer - product_name before it is passed into $this->linktext() near the bottom. E.g. the product_info.php module has Product_Info_Page_Module::linkTextOrder().
If you do this however you must also create permanent 301 redirects from the old uri to the new.