Adding Category Heirarchy to Permalink

Thanks for the great plugin, really useful!

Is there a way that I can add the article’s category (or categories if it’s a hierarchy) to the url. For example right now my permalink is: https://sitesforchrist.net/knowledgebase/adding-new-post/ and I’d like it to be https://sitesforchrist.net/knowledgebase/wordpress/basics/adding-new-post/

Is that possible or can this be added as a feature request?

Thank you!
Sarah

https://wordpress.org/plugins/wp-knowledgebase/