Maybe you can assign attachment to those categories after upload? Check this example.
function add_category_automatically($post_ID) {
$attach = get_post($post_ID);
if ($attach->post_parent) {
$cats = get_the_category()($attach->post_parent);
foreach ($cats as $cat) {
wp_set_object_terms($post_ID, $cat->slug, 'category', true);
}
}
}
add_action('add_attachment', 'add_category_automatically');
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