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do not want to lose these rankings,
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Please take into consider the following points before implementing any changes:
If you do not want to lose existing rankings, then my best advice will be to stick to your existing site unless you are quite confident that your new Joomla site becomes an exact replica of your existing site.
Joomla provides modules like OpenSEF which will do the task of creating SE Friendly URLs, also you can add custom description and keyword (not that much important nowadays) for each content item using Joomla CMS.
And finally, as has already been suggested, no CMS can do the task of
SEO completely.