Please check if any of the solutions work for you. There are a few ways we can try to achieve this.
Through WP Permalinks
Go to Settings >> Permalinks and select Custom and enter: /%category%/%postname%/
Next set your Category Base to .
Through Yoast Plugin
Go to Yoast SEO
Select advanced
Click on the tab permalinks at the top
Check Strip the category base (usually /category/) from the category URL
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