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Question: 1. What does the Urantia Book say about the nature of life after death? 

When you are awakened on the next world of your Universe sojourn you are exactly as you where when you left this world with the exception of the body you inhabit (A mortontia body) and the realization the gift of eternal life the Father of Love offers his children is real. This awakening will be the brightest day of your career until the advent of your next jubilee in the ascension career. 

Paper 47 on THE SEVEN MANSION WORLDS fully explains the answers to all of your Questions.

  ^47:0.1 THE Creator Son, when on Urantia, spoke of the "many mansions in the Father's universe." In a certain sense, all fifty-six of the encircling worlds of Jerusem are devoted to the transitional culture of ascending mortals, but the seven satellites of world number one are more specifically known as the mansion worlds.

Also there is a short video called ASCENT TO PARADISE the provides a simple map of how we ascend the worlds. I have put this video in your Group Video menu along with a longer video that also addresses the answers to these questions about Life After Death. The Urantia Book-What happens after death?

Question 2 is also answered above.

3.Are there specific details about the journey of the soul after death in the Urantia teachings? I feel as if these are similar questions. 

So, if you look at Paul's answer and go to the links, the eternal adventure is what our soul experiences. But also know, that as we are called to be awakened on the other side - and it will seem instantaneous because at the point of death, we lose total consciousness/awareness of everything (read the Resurrection of Lazarus and see what Lazarus thought after he was resurrected, in 168:2.9 - 

"Lazarus could hardly comprehend what had occurred. He knew he had been very sick, but he could recall only that he had fallen asleep and been awakened. He was never able to tell anything about these four days in the tomb because he was wholly unconscious. Time is nonexistent to those who sleep the sleep of death."  )

...because at the moment of awakening, not only will it seem as if we just died,  but we are then re-united with our TA, the records of our mortal life, our soul, personality and our seraphim (wow- our very own A-Team!!), we are now in a new body...a morontia body, one a BIT ore spiritual...

Thus, "all" of us, in one body, will progress onward as far as we choose and are willing to serve our Universal Father!

Ok, questions 4 to 7 are all similar and can be answered by reading Paper 47:3.1 to the end of that Paper...Please do!

8. In the Urantia perspective, is there a judgment or accountability for one's actions in the afterlife?

Absolutely! We cannot expect to do whatever we wanted to here in this life because we wrongly believed that since Jesus died for our sins(which he didn't!)it will all be forgiven! MUCH will be forgiven, true, but we will still have to face some of our decisions. We will have MANY beings on the other side whose responsibility is to find every last bit of goodness in us before the final adjudication will be made. Mercy is SO fairly applied.

Paper 10:6.16-18 will give you a SMALL sense of our adjudication.

9.i thinkmwe have given sufficient information for you on the afterlife, even more if you study it yourself in the UB where we have suggested. But there is no material life, as we know it here, on the other side. It is morontial and becomes more spirit as we progress in our spiritual understanding and growth.

10. Are there specific practices or attitudes recommended by the Urantia teachings to prepare for the afterlife?  

Absolutely! A. Read the Part Iv to know what it is they want us to know and do as they say in 196:1:3 (2090.4) One of the most important things in human living is to find out what Jesus believed, to discover his ideals, and to strive for the achievement of his exalted life purpose. Of all human knowledge, that which is of greatest value is to know the religious life of Jesus and how he lived it.