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Sebastien, you can get to category/post name.html and category/ (note it has a forward / at the end of the category even if .html does not at the end. https://www.wordpress-seo.org/wordpress-seo/html-with-no-trailing-slash.html describes these steps.
There is a plugin a lot of people do not know about for this.

However, I think you are looking for “-” and custom text. I think you do not need a plugin for this. just the right php line. That I am curious about myself.