You would do it by assigning the taxonomies when registering the post type:
'taxonomies' => [ 'taxonomy1', 'taxonomy2', ..etc ],
- https://developer.wordpress.org/reference/functions/register_post_type/#taxonomies
- https://developer.wordpress.org/reference/functions/register_post_type/#taxonomies-2
You can also use register_taxonomy_for_object_type to do this if you want a function call. You still need to register the taxonomies though or this won’t work.
Note that this won’t change your CPT’s permalinks, but that’s a separate question that has been asked many times on the site already.
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