I found a solution here: 404 on category.php pagination
So, to fix my issue I just needed to add these custom rewrite rules to functions.php:
add_action( 'init', 'wpa58471_category_base' );
function wpa58471_category_base() {
add_rewrite_rule(
'blog/([^/]+)/page/(\d+)/?$',
'index.php?category_name=$matches[1]&paged=$matches[2]',
'top'
);
add_rewrite_rule(
'blog/([^/]+)/(feed|rdf|rss|rss2|atom)/?$',
'index.php?category_name=$matches[1]&feed=$matches[2]',
'top'
);
}
Now, all blog pages work, including main blog page, archives, categories, and single posts, using the permalink custom structure of /blog/%category/%postname%
**ALSO, if using Yoast, make sure you “Keep” the category base (this is the default under advanced->permalinks)
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