Customize URL of custom post type

Dear all,

I am facing a problem with WordPress and have not yet found a solution.

My site needs SEO so the URL of all posts must be:

site_url/parent_term/child_term/post_slug.html

Regardless of the post type, taxonomy term, even if it is ‘course’, ‘event’ or anything else, and the taxonomy term is ‘course-category’, ‘event-category’ or anything else.

Each custom post type has different options, templates.

Example: course post ‘basic_programming_course’, assigned course category ‘education’, and this is child of course category ‘overall’.

So the permalink of above course post must be:
mysite.com/overall/education/basic_programming_course.html

No custom post type slug or custom taxonomy slug is allowed in the URL.

I have tried many solutions so far but unable to implement it.

The solution I need can also be a plugin, a bunch of code or anything that solve this problem.

If you have any working solutions or advices, please help. Thanks so much!