Simple Hierarchical Breadcrumbs with custom post types?

I am using Yoast with Custom Post types – an am really confused.

All I want is a hierarchical path to show in breadcrumbs. Works perfect when pages are “pages”.

But when its a post and I try to use categories – the categories appear – but have no connection to a URL – and I don’t know how to make them a URL.

So when my main menu contains a page “boats” built dynamically – the category will appear in the breadcrumb – but the link goes to a 404 page – not the URL I want it to go to. (There is no “Parent” page ability to connect to with a Custom post Type)

Conversely – when I omit a category – the interim page is ignored. (which is why I tried to add a category in hopes there was some connection.)

Any help is appreciated.