Решил через UrlRule
class ProfileUrlRule implements UrlRuleInterface
{
    public function createUrl($manager, $route, $params)
    {
        if (preg_match('/^staff\//', $route)) {
            return str_replace('staff/', '', $route);
        }
        if (preg_match('/^customer\//', $route)) {
            return str_replace('customer/', '', $route);
        }
        return false;
    }
    public function parseRequest($manager, $request)
    {
        $pathInfo = trim($request->pathInfo, '/');
        $pathInfo = explode('/', $pathInfo);
        if (is_array($pathInfo) && $pathInfo[0] == 'profile' &&
            in_array(Yii::$app->user->identity->type, [UserHelper::TYPE_CUSTOMER, UserHelper::TYPE_STAFF])
        ) {
            if (Yii::$app->user->identity->type == UserHelper::TYPE_STAFF) {
                return [str_replace('profile', 'staff/profile', $request->pathInfo), []];
            } elseif (Yii::$app->user->identity->type == UserHelper::TYPE_CUSTOMER) {
                return [str_replace('profile', 'customer/profile', $request->pathInfo), []];
            }
        }
        return false;
    }
}