URL Rewrites with categories

I have a custom post type called “trip_post_type”.
I have two custom taxonomies attached to this trip post type called “cat_locations”(slug: location) and “cat_types”(slug: explore).

I can view a location category currently by site.com/location/mexico
I can view a type category currently by site.com/explore/hiking

I want to combine the 2 categories in the url.
I know I can do site.com/location/mexico?type=hiking but that looks ugly.

Question 1. How to I achieve this url: site.com/location/mexico/hiking
Question 2. This url would be better: site.com/mexico/hiking