Prefix Custom Taxonomy to URLs

I’m wondering if its posible to prefix a custom taxonomies term to the beginning of all posts.

For example I have a custom taxonomy called ‘editions’, and under that I have a few terms (about 5) which are stuff like ‘asia, uk, cruise’ and I would like the value of that to be prefixed to the beginning of all posts urls.

So for example the url to a post would be;

https://www.mydomain.com/asia/post_id/postname/
https://www.mydomain.com/uk/post_id/postname/
https://www.mydomain.com/cruise/post_id/postname/ etc

There will never be a case where a post doesn’t have a value in that custom taxonomy.

I would imagine some how i would need to convert the above url to;

index.php?p=1231&editions=asia

But how to do that im not sure.

any help / pointers appreciated

Cheers