Category in slug

Hi there,
Thanks for this plugin – I really appreciate it!

Q: Is there a way to show a page’s category in the slug/URL itself?

I have the following permalink structure enabled: https://xyz.com/%category%/%postname%/
This shows the category when it’s a post.

But having a page category called “groups”, it doesn’t show at all up in the slug.
Just https://xyz.com/PAGE

Thanks for any hint!

Best,
Dan