How to link to CPT/taxonomy archive?

Hello,
I have a few CPTs set and I’ve assigned the same default categories to all of them. Is it possible to set the plugin (and/or other wp settings) so that I can have a link to an archive page of all the posts belonging to the given CPT and selected category? Something linke https://www.my-page.com/my-cpt1/categories/my-category1, as well as https://www.my-page.com/my-cpt2/categories/my-category1 (an other combinations of post types and category names)?