Is there any way to add a category (selected from blueprint yml) to the url?

Currently:
site.com/articles/name-of-article

Desired:
site.com/articles/category/name-of-article

Adhering to the flat file system wouldn't work in this case because the user needs to be able to change the category via the panel.

Please help…

I didn't find the right solution from the Internet.
References
https://forum.getkirby.com/t/display-category-in-url/7969
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