You can’t add additional “folders” in the post editing screen. You would need to change your permalink structure, so that Posts include the Category in the URL. In Settings > Permalinks, choose “Custom Structure” and paste
/%category%/%postname%/
Keep in mind this will change all your Post URLs, so you’ll need to add redirects. Also keep in mind small tweaks to permalinks like this don’t often give you a big SEO boost so depending on how many posts you would need to redirect, it may be worth investing more effort into optimizing the on-page content rather than changing permalinks.
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