Is there any way to generate url alias instead of this taxonomy/term/%/faq, in views I have created a page view taxonomy/term/%/faq. It works fine but I need to replace taxonomy/term/% with its url alias.
Pathauto just allows you to generate the URLs automatically so I believe you would still have the issue. 

You will need something like https://www.drupal.org/project/path_alias_xt to extend the alias functionality to the other subpaths like the node/%/edit, taxonomy/term/%/faq etc.