Some folks asked the same question you did here. This one specifically worth reading, if you haven’t already. It has ottopress explanation for harmful permalinks.
If you really want to force this, you could write your own permalink (http://domain.com/category/subcategory/post...), then either use htaccess rewrite rule or WP_Rewrite to take them to the link wordpress generated.
This merely satisfies your visual requirement, but it adds server load.
Related Posts:
- One Specific Category To Permalink
- How to set the same base url for two different taxonomies?
- Most efficient use of custom taxonomies, categories, and pages
- Remove parent category from permalink? Basically only have the child category?
- Custom permalink structure leads to be 404 on pagination
- Can’t custom taxonomies have same terms (slugs) as categories?
- How to get permalinks with category base working with sub-categories
- Category archive by year with permalink support /category/YYYY
- get_categories for custom post type with a specific custom taxonomy attached
- Add a URL prefix to permalinks of one category of posts only
- Catch 404 after changing permalink structure from /%postname%/ to /%category%/%postname%/
- Order get_terms() By Custom Field
- How can I add the featured image functionality to a custom taxonomy?
- Filtering categories in the permalink structure
- Allow duplicate permalink slugs for posts in different categories
- Force WordPress to Show Pages Instead of Category
- Combine two taxonomies in a hierarchical tree
- How do I use the same post slug for different Categories?
- How to remove category from wordpress url?
- Multiple post categories – single permalink
- How to create a custom url for a category [closed]
- Is there a way to use regular categories with custom post types?
- Use tag interface for hierarchical taxonomy?
- How can I select a primary category?
- How to change the category in URL for posts in multiple categories?
- How to exclude uncategorized from permalink structure /%category%/%postname%/
- Using URL parameters, list posts from category and custom taxonomy
- How to get the url to tag & category base set by the user?
- How to make custom taxonomy check boxes like ‘Categories’
- Different templates for parent and children categories/taxonomies
- 404 error on subcategory pages
- Categories’ hierarchy in URL
- cat_is_ancestor_of() for custom taxonomies
- Are Categories, Tags and Custom Taxonomies any different in regards to SEO?
- How to create non-unique sub-category slugs?
- Show Post from parent category (custom taxonomy) ONLY!
- How to convert regular categories to custom taxonomy?
- Changing the category permalink structure
- How to get next previous category in same taxonomy?
- How to Include the Parent and Child Category in the Permalink if the Post is Added to Both
- Category links suddenly started giving 404 errors
- Best and Cleanest way to remove /category/ from category permalinks? [duplicate]
- Exclude subcategories from the url
- How to display only the parent category in the permalink
- Root level category, tag, author and archive pages to work
- Categories and Tags returning 404 on the sidebar when using ugly permalinks
- Removed slug from CPT, now How/where do I hook the filter to the taxonomy term archive pages link?
- Archive pagination causing 404 with permalinks structure
- Permalinks – Different structures for different categories?
- How to show custom taxonomy in the permalink?
- Plural Category Base Slug On Category Archive Page
- custom permalinks for category archive ( custom base and no parent slug )
- Getting WordPress custom taxonomy/category?
- Are Custom Taxonomy Templates Possible?
- Display empty taxonomy terms with get_terms()
- Get a list of Terms for a specific category
- Order Taxonomy Term by date created
- WooCommerce change category url and product base
- How to display a description of a given category from a custom taxonomy
- How to get the number of child categories a specific parent category has?
- Removing category base form links messes up the parent-child behavior
- New categories are now going to 404s
- How can I convert some categories to a custom taxonomy?
- Duplicate Category and Page URL loads Category instead of the Page
- Best way to programmatically link to multiple categories (union/intersection) [closed]
- Category tree is flattened inside admin upon saving
- Default category link for a custom category is a broken link
- Get multidimensional array that reflects category hierarchy
- PHP Fatal error: Cannot use object of type WP_REST_Response as array in wp-includes/rest-api/endpoints/class-wp-rest-posts-controller.php
- If statement within PHP echo
- How to set up Author archives with sub category URL
- Allow dot in wordpress permalinks (only for categories)
- How to know if it’s a child taxonomy?
- Taxonomies for WordPress Media Library [duplicate]
- wordpress wp_list_categories
- wp_dropdown_categories and custom taxonomy + custom post type
- How to get category URL with the slug?
- Custom Post Types and independent Categories – complex Taxonomy
- How to filter posts by format and category via url?
- How to Filter categories in the permalink structure
- Possible to make a subdirectory that loops through a single category?
- Should the actual /category/ directory be 404? Is that normal WP behaviour
- WordPress subcategories return 404 in custom template
- force category base – archive pages work WITH & WITHOUT category base slug in url?
- Limit number of terms that a custom taxonomy can save per custom post type
- How get permalink for the current category or tag?
- Add “page-a” slug to category link if user visit category link from “page-a”
- Redirect category to url with /category
- Changing permalink from /postname/ to category/postname/
- Can you pre-check wordpress categories?
- Change existing taxonomy settings when using custom taxonomy
- How to get the id from the custom category?
- Category being displayed without base parmalink
- wordpress sub-category ( lowercase letters + non-latin characters ) = 404
- Removing post category base giving Error 404
- Categories showing page not found
- How to disable default category linkbuilding?
- The default code for “posts_nav_link” on category.php isn’t working
- Read GET parameters in APACHE Mod Rewrite rules for WordPress categories in Posts
- Can’t remove front from permalinks for custom taxonomy category page